OUTLINE OF EACH EXPERIMENT SET AND WHAT IS COVERED

**Note: Fields marked with a "*" are variable throught the set; see other documentation for details.



EXPERIMENT SET 1
File: swait.xls
Description of Set: Determining amount of time to wait between sonar readings
# of Experiments Run: 10
Obstacle Distance: 45"
Sweeping? Yes
Averaging? No
Sampling Routine Used: sample() then closeup() interchanging
swait: *
vwait: 1.0s
iwait: n/a
cwait: Default (2.38ms for sample(), 0.5ms for closeup())


EXPERIMENT SET 2
File: vwait.xls
Description of Set: Determining amount of time to wait between a sonar reading and a servo movement
# of Experiments Run: 6
Obstacle Distance: 45"
Sweeping? Yes
Averaging? No
Sampling Routine Used: sample() then closeup() interchanging
swait: 0.25s
vwait: *
iwait: n/a
cwait: Default


EXPERIMENT SET 3
File: averaging.xls
Description of Set: Averaging several readings at 1 position to correct for random errors
# of Experiments Run: 3
Obstacle Distance: 45"
Sweeping? Yes
Averaging? Yes
Sampling Routine Used: sample() then closeup() interchanging
swait: 1.0s
vwait: 1.0s
iwait: *
cwait: Default


EXPERIMENT SET 4
File: sample.xls
Description of Set: Running sonar_sample() independently
# of Experiments Run: 10
Obstacle Distance: 45"
Sweeping? Yes
Averaging? No
Sampling Routine Used: (just sonar_sample() used)
swait: n/a (0s)
vwait: *
iwait: n/a
cwait: Default


EXPERIMENT SET 5
File: closeup.xls
Description of Set: Running sonar_closeup() independently
# of Experiments Run: 7
Obstacle Distance: 45"
Sweeping? Yes
Averaging? Yes for some, No for others
Sampling Routine Used: (just sonar_closeup() used)
swait: n/a (0s)
vwait: *
iwait: 0.10s for some, 5.0s for others
cwait: Default


EXPERIMENT SET 6
File: nosweep.xls
Description of Set: Isolating the servo's influence
# of Experiments Run: 6
Obstacle Distance: 45"
Sweeping? No
Averaging? Yes for some, No for others
Sampling Routine Used: *
swait: 1.0s for some, 0.25s for others
vwait: n/a
iwait: 0.10s for sample()/0.20s for closeup()
cwait: Default


EXPERIMENT SET 7
File: blanking.xls
Description of Set: Adjusting sonar_closeup()'s default blanking period
# of Experiments Run: 9
Obstacle Distance: 45"
Sweeping? Yes for some, No for others
Averaging? Yes for some, No for others
Sampling Routine Used: *
swait: 1.0s
vwait: 1.0s
iwait: 0.10s
cwait: *


EXPERIMENT SET 8
File: obstacles.xls
Description of Set: Different world arrangements
# of Experiments Run: 10
Obstacle Distance: *
Sweeping? Yes
Averaging? Yes
Sampling Routine Used: closeup() then sample() interchanging
swait: 1.0s for some, 0.25s for others
vwait: 1.0s for some, 0s for others
iwait: 0.10s for some, 0.05s for others
cwait: 2.38ms for sample(), 0.70ms for closeup()