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Simulation of a test track.
Before I spend more time in building a new line detection device, I want to find out, how different parameters of the device would affect the motion of the wheelchair. The whole system seems to be easy to simulate, so I wrote this small program today.
With the simulation, I found out, that I would get the best motion, when I set the velocity to zero. But this won't happen in reality - the weight of the wheelchair is at least something around 100 kilos (+ several kilos for the person, which sits on it).
The simulation also helped me to find out, how the wheelchair's movement can be smoothened by taking a low (p-)factor for the steering and by mounting the line detection device as far to the front as technically possible.
I also thought, that I would need much more LDR's. But it seems, that eleven of them will do the job quite well. I am really curious, if those virtual results can stand the reality.