Subject:
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Re: Struggling with encoder wheel
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Newsgroups:
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lugnet.robotics
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Date:
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Thu, 12 Apr 2001 23:50:17 GMT
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Original-From:
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Andy Gombos <gombos_2000@yahoo.com=spamcake=>
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Viewed:
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802 times
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Chris Osborn wrote:
> In article <GBnvns.3vw@lugnet.com>, Xanthra47 <jmantor@nycap.rr.com> wrote:
> > As for speeding up the system you've got, I'm not sure I can help
> > there... It seems that you've done a very good job optimizing it for
> > compact storage. I was trying to fathom a hash function to help
> > here, but I haven't come up with one that wouldn't take much more
> > space to store the table. I'm intrigued though : )
>
> If I had room for a 64 element array, I'd just use that and make a
> lookup table. Unfortunately I don't, and I can't figure out a way to
> pack things in and still look them up with any speed. I also can't
> find any way to mathematically convert the group of wedges to a
> position either, and since they're laid out kinda wildly, there
> probably isn't a way.
>
> I also still have problems getting semi-accurate reads. As the wheel
> turns and the sensor sits between two different colors, it tends to
> see it as a different gray and misreads.
You could make a big wheel made of lego plates, and put smooth ones on top for
'colors'. Then you could use a touch sensor, and use the difference between the
low spots and the high spots as 1 location.
Do you really need to know the direction that the wheel is going? You know
that for a given motor direction, the wheel will rotate a given way due to the
gears. Use the sensor edge count mode to count both -_- and _-_ edges, and get
2x the resolution (?).
Andy
--
See my Visual Interface for leJOS at http://lvi.sourceforge.net
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Message has 1 Reply:
 | | Re: Struggling with encoder wheel
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| (...) I thought about something like that, but using 2 wheels and 2 touch sensors, not just one, and using my 2 bit encoding system like on the light sensor wheel. But I'm not sure how to build small round things out of Lego that have 36 divisions (...) (23 years ago, 12-Apr-01, to lugnet.robotics)
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Message is in Reply To:
| | Re: Struggling with encoder wheel
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| (...) If I had room for a 64 element array, I'd just use that and make a lookup table. Unfortunately I don't, and I can't figure out a way to pack things in and still look them up with any speed. I also can't find any way to mathematically convert (...) (23 years ago, 12-Apr-01, to lugnet.robotics)
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