Line following Problems

Over the last few days we've been experiencing problems getting the buggy to follow the line.

Mainly because we need to think about three scenarios.

1. When the left Ldr is above white paper

2. When the left Ldr is covered by the line

3. When the Right Ldr is above white paper

4. When the Right Ldr is covered by the line.

Due to the nature of the first program, we dont require any reversing of any wheels at any time although some groups have opted to reverse either one of the wheels if its relative LDR cross onto the black line, as a way of getting it to turn back into the path require.

We have opted for a simple 'stop' of the relative wheel. So for example, if the Ldr controlling the right wheel crossed onto the black line, this wheel would stop motion while the other wheel would continue to travel, effectively using the stopped wheel as a pivot for motion. This would bring the directed path of the buggy back to where we want it.

The four scenarios are all independent of eachother at this moment in time except for obviously both Ldrs being above white paper, where we have set a command of just going straight for this scenario. I'll upload the video of this pivoting in practise after this.