Set-point (2)

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Set-point (2)

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example_search_and_approch_rotate

The set-point for the rotational speed is calculated by half image width minus the x-coordinates of the red cylinder. The Transferfunktion maps the distance in pixel to the rotational speed in degrees per second.

example_search_and_approch_rotate_transferfunction

The input to the Transfer function is the distance of the red cylinder to the image center in pixel. If this distance is smaller than -10 Pixel Robotino is rotated by -10 deg/s. Up to a distance of -2 Pixel the rotational speed goes down to 0. If the distance is larger 2 pixel the rotational speed is increased up to 10 deg/s.

If the red cylinder is not visible the Segment tracker outputs 0 for the x-coordinate. The input to the Transfer function in this case is half image width so that Robotino is rotated by 10 deg/s.