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Green Detection


we made easier to detect the hardest colors with some coefficient, this coefficient are divide green by red , green by blue and blue by red. With placing two color detection sensor on our Sensor Board and seeing the numbers of this coefficients and also setting them on our robot menu using our TFT Display we can make sure of our robots green detection.



As we have two states for the robots rotation on the green color 90 and 45 degrees we should separate this two states.

when the robot reaches intersection it goes forward a bit , after that if the facing tile is white , robot will rotate 45 degrees and follow the line. If the facing tile is a black line robot will rotate 90 degrees and follow the line.




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