INDEX

ANGLE MEASUREMENT
Suppose if your robot is going over an inclined plane and we want to measure the inclination of the plane then we should go for angle measurement. This is done simply using the principle of a pendulum. If you goes up an inclined plane a pendulum kept perpendicular to the gravity will change its angle with normal. Attach a somewhat heavy ball to the shaft of the variable resistor(potentiometer). When robot goes up the plane, the inclination of the pendulum changes and the shaft of the variable resistor will vary. You connect the output of the variable resistor to ADC to get reading. Instead of pendulum and variable resistor keep a source of light perpendicular to the ground and keep some LDR's in the robot so that the light source moves and the reading of a LDR's will change. Keep some 5 LDR's for good accuracy. The robot will go up and down an inclined plane. So greater the number of LDR's greater will be accuracy. Suppose if you use one LDR and connecting LDR output to ADC and measuring angle is not good because it won't be able to detect
whether robot is going up or down in an inclined plane( the readings will remain same for both side. Suppose if we take +20 degree then the LDR reading will be same for -20degree). So it is better to use some LDR's or potentiometer shaft attached with a heavy ball and output of potentiometer to ADC.