Logic & Flowchart

Edge Detection Logic

To avoid falling, our robot will change its path whenever it detects an edge by calculating the distance between the sensor and the surface. If the distance is more than 10 cm, that means an edge has been detected, and the robot will move in a different direction as a result.

Let’s look at the login in detail:

1. Our edge detector will move forward whenever the distance between the ultrasonic sensor and the surface should be less than 10cm.
   
2. Edge is detected when the distance between the ultrasonic sensor and surface is more than 10cm. The robot stops detecting an edge.
   
3. The ultrasonic head turns to the left to check whether there is an edge on the left or not.
   
4. If there is no edge on the left, Quarky will change its direction to the left by turning left by 90 degrees. The ultrasonic head will get straight. And the robot moves ahead.
   
5. If there is an edge detected on the left side, the ultrasonic head turns to the right.
   
6. If no edge is detected, Quarky changes its direction to the right by turning right. The ultrasonic head will get straight. And moves ahead.
   
7. If it will detect edges in all the directions. Quarky will move backward.
   

Flowchart

Below is the flowchart representation of our logic. We will write a script for the robot in the next topic.