Subject:
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Re: Precise moves with cybermaster
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Newsgroups:
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lugnet.robotics
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Date:
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Mon, 7 Dec 1998 11:04:08 GMT
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Original-From:
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Laurentino Martins <lmartins@marktest.ptSPAMCAKE>
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Viewed:
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1141 times
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I'm going to start working on this in a couple of days, but there are a few things you might want to look at:
1. Don't Float the motors. Float is very imprecise. Make them Stop in the spot!
2. If you are maneuvering, slow down the motors. Don't do it a full speed or you might overshot the spot you want to stop.
3. 1/4 in the tacho counter in very little. I'd call it precise enough.
This weekend I've made a program that detects impacts *without* sensors!
And it's flexible enough to work the whole range of speeds.
It detects when the motors are not responding to the speed I told them to be and stop them as soon as the speed slows down with an error.
It's pretty amazing the things one can do with the Tachometers!!! :-)
Laurentino Martins
[lau@mail.telepac.pt]
[http://www.terravista.pt/Enseada/2808/]
--//--
At 00:40 07-12-1998 Monday , you wrote:
> Anyone got a really good accurate move algorithm for a cybermaster. I'm
> currently using the following mechanism...
>
> BeginOfSub(0);
> ClearTachoCounter("01");
> On("01");
> While(BOT_TACHO, 0, LT, BOT_VAR, BOT_COUNT);
> SetVar(BOT_TEMP, BOT_TACHO, 1);
> SetVar(BOT_TEMP2, BOT_TACHO, 0);
> SubVar(BOT_TEMP, BOT_VAR, BOT_TEMP2);
> If(BOT_VAR, BOT_TEMP, EQ, BOT_CONST, 0);
> On("01");
> Else();
> If(BOT_VAR, BOT_TEMP, LT, BOT_CONST, 0);
> Float("0");
> On("1");
> Else();
> Float("1");
> On("0");
> EndIf();
> EndIf();
> EndWhile();
> Off("01");
> EndOfSub();
>
> The above works reasonably well most of the time but I see a couple of
> problems...
>
> 1. I often but not always get a small over-shoot.
> 2. Often at the end of a move tacho0 and tacho1 have slightly different
> values (off by 1-4).
>
> I use the above code for both forwards/backwards and turns. Anyone else got
> anything better?
>
> Also what type of bot chasis are people using with the cybermaster. I've
> tried various types but
> keep returning to the standard tracked version. I find that this loses some
> accuracy on turns but
> seems to deal with carpets better than other designs. However I would really
> like to get a slower
> moving bot with a greater resolution. Any suggestions?
>
> Andy
>
> PS Any good bumber designs yet :-)
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Message is in Reply To:
 | | Precise moves with cybermaster
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| Anyone got a really good accurate move algorithm for a cybermaster. I'm currently using the following mechanism... BeginOfSub(0); ClearTachoCounter("01"); On("01"); While(BOT_TACHO, 0, LT, BOT_VAR, BOT_COUNT); SetVar(BOT_TEMP, BOT_TACHO, 1); (...) (26 years ago, 7-Dec-98, to lugnet.robotics)
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