Week 8, Path correction

Week 8 is the final week for adjustments to our robot. In week's 6 and 7 we tried to make the robot park in suitable spaces while ignoring spaces that it can't fit into. Our current goal is to make sure the robot can not only detect parking spots, but also be able to move across a street properly.


One issue that occurred was the light sensors incorrectly detecting the street below it; sometimes the robot seemed to completely ignore the street and continue on its own path. We attempted to fix this via blocking external light to force the robot to detect only the street and set the light sensors to adjust around two strips of "guidelines" to make the robot correct its path once it deviated.


Afterwards we adjusted the code to be able to follow the path up to the point where it detected a valid parking slot. After detecting the spot, the robot would ignore the street and do its parking duties. To do this, we first set up a "wall" for the robot to detect behind the parking spot so the robot could choose which parking program (parallel or perpendicular) to use. We plan to continue working on it, but as of now we have successfully made the robot prioritize parallel parking.