Is there a way to eliminate the jerkiness when the BOE Bot takes a turn while line following? I have tried both speeding up and slowing down the outside as well as the inside servos and there doesn't seem to be any difference.
Code is only one part of the problem. Reliability, speed, and smoothness of line-following are related to a lot of physical factors, such as chassis geometry, mass, traction, wheel size, distance between wheels, CG, supply voltage, number of optical sensors, sensor location WRT to the axle. A BoeBot is a great all-purpose learning platform for many tasks. Compare it to Pololu's 3Pi robot, which is optimized to haul Smile in line-following mode. Of course it has 5 line sensors and a voltage booster to help boost performance:
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http://www.youtube.com/watch?v=mJV-KDqHgDQ
http://www.youtube.com/watch?v=a7CKLmIzHXM