Ops Manager: Project

5. Small Hints

Here are a couple of hints to get you started.

Substitute picker.position() with picker.position_val(). Instead of simply getting left or right, you now get a number telling you how far left, or how far right the robot is from the line.
Investigate using picker.steer(0,100) or picker.steer(100,0) instead of picker.right() and picker.left().
Can you change the 0in the steer() method to another value to get smoother turns, depending on how far the robot has to correct course?
Look at this table that spells out the different situations. What you need to do is come up with appropriate values for S in order to optimize the robot's course.

How you calculate that S value is up to you.

When S is equal to 0, you get the bang! bang! controller behavior that you saw in the Learn section.

When S varies according to the distance away from the line, you are now dealing with what's called a proportional controller.