Subject:
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Re: Rotation Sensors - slightly dissapointed...
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Newsgroups:
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lugnet.robotics
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Date:
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Fri, 25 Feb 2000 12:43:48 GMT
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Viewed:
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1100 times
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Stefan Elsner wrote in message ...
>
> I think that motors need time to stop.
>
> If you rotate a motor backwards until the Sensor shows 0, then turn it off,
> it might go to -2 until it is fully stopped. So if you do a ClearSensor()
> afterwards your motor is off by two counts and your code won't know it.
> That's why I asked.
I developed a vector-based code in which I set a variable to the location I
want the motor to spin to, and mount the sensor directly on the gearmotor.
The idea is I can implement this code into any of my projects. When the
motor detects it has either a) slewed or b) the variable has changed (ie, I
told it to move), it will rotate until it gets within 8 counts (that is
changable through defines) and then move at slow-speed (pulsing on for 1/100
sec pulsing off for 1/100 sec) until it reaches the destination. If it
overshoots it backs up. The code always guarentees the motor will remain
where you told it to go - unless you apply a force to slew the motor beyond
what the motor can torque against...
> I keep the position changes in a variable and always compare the sensor to
> the variable. This keeps the error down to the two counts mentioned above
> and it won't accumulate.
Sounds kind of like what I'm doing.
Iain
--
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Message is in Reply To:
 | | Re: Rotation Sensors - slightly dissapointed...
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| I think that motors need time to stop. If you rotate a motor backwards until the Sensor shows 0, then turn it off, it might go to -2 until it is fully stopped. So if you do a ClearSensor() afterwards your motor is off by two counts and your code (...) (25 years ago, 25-Feb-00, to lugnet.robotics)
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