[Dprglist] LF intersection angle rule

David Anderson davida at smu.edu
Sat Dec 9 23:11:54 PST 2017

Great meeting today.

Doug, I have a question based on Ron and Carl's presentations, perhaps 
it has already been answered, to wit:

As I understand, the line following course consists of an assembly of 
square tiles, each of which has an entry and exit point.

Is it sufficient for the robot to just identify the entry and exit 
points, and drive directly from one to the other?

That is, it would not follow the line per se, though with sufficiently 
large robot the differences would probably be pretty negligible, but it 
would follow the course.


On 12/09/2017 08:18 AM, Doug Paradis wrote:
> John,
>     Currently, the intersecting lines are always straight and all 
> intersections are 90 degrees. Curves lines at an intersection would be 
> a possible addition to further challenge courses (interesting idea). 
> The link to the course layout is at
> https://www.dprg.org/wp-content/uploads/2017/11/DPRG-Roborama-2011b-Challenge-Level-LF-Course.pdf 
> <https://www.dprg.org/wp-content/uploads/2017/11/DPRG-Roborama-2011b-Challenge-Level-LF-Course.pdf> 
> If you have any additional questions, let me know. I would love to see 
> your work on the tests that you are developing.
> Regards,
> Doug P.
> On Sat, Dec 9, 2017 at 12:36 AM, John Swindle <swindle at compuserve.com 
> <mailto:swindle at compuserve.com>> wrote:
>     Doug,
>     I'd say the crossing in your drawing was about either 30 degrees
>     or 150 degrees, and since it could come in on either side, I'd
>     have to look for both. I am not asking that the rules state which
>     side the angle is measured from. My issue is that I am developing
>     a two-step test that covers all the conditions in the Challenge,
>     but in the steps I need to include something that rejects the
>     intersections. I am OK with rejecting any line that is 70 degrees
>     to 110 degrees on either side. If the intersecting line is
>     straight, the test is a bit more robust. If each side is 70 to 110
>     degrees (a bent intersecting line), my two-step test might fail.
>     Doing it "that's just wrong" way,
>     John Swindle
>     -----Original Message-----
>     From: Doug Paradis <paradug at gmail.com <mailto:paradug at gmail.com>>
>     To: John Swindle <swindle at compuserve.com
>     <mailto:swindle at compuserve.com>>
>     Cc: DPRG <dprglist at lists.dprg.org <mailto:dprglist at lists.dprg.org>>
>     Sent: Fri, Dec 8, 2017 11:52 pm
>     Subject: Re: LF intersection angle rule
>     John,
>         In the challenge course, all the intersections are 90 degrees.
>     The rule was written to allow crossing variations in the future.
>     I'm thinking that  70-90 degrees would represent the smallest
>     angle of the intersection. I not sure that is right, just the way
>     I would interpret the angle.
>     if you saw an intersection that was like this:
>                |   /
>                | /
>                /
>              / |
>             /  |
>            /   |
>     What angle would you say the intersection was?
>     Regards,
>     Doug P.
>     On Fri, Dec 8, 2017 at 9:03 PM, John Swindle
>     <swindle at compuserve.com <mailto:swindle at compuserve.com>> wrote:
>         Doug,
>         The Line Following Challenge rules say "Intersections may
>         cross with angles of 70 - 90 degrees." Doesn't that really
>         mean 70 to 110 degrees? Is the intersecting line straight, or
>         can it bend at the intersection?
>         Thanks,
>         John Swindle
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