Subject:
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compensating battery level
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Newsgroups:
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lugnet.robotics
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Date:
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Mon, 10 Dec 2001 07:11:46 GMT
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Original-From:
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Mathias Uhr <uhr@mathias.%avoidspam%net>
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Reply-To:
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UHR@nomorespamMATHIAS.NET
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Viewed:
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579 times
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hi list again :-)
i got some more thoughts and questions...
since one can read the battery level within a program with the
2.0 firmware, it is now possible to calculate appropriate values
for motor actions depending on the current battery level to
compensate for navigation errors caused by weakening batteries.
i'm currently experimenting with a modified r2d2 robot with rcx
and turning head with light sensor. it turns its head from one side
to the other, seeking the spot with the brightest light and then
turns itself in that direction. the driving and steering mechanism
is the same as in the ddk original (motor fwd: drive straight forward,
motor rev: turn backwards).
the problem now: the angle of turning for a given time strongly
depends on the battery level. i excessivly measured angles and
turning times and came up with a formula with different parameters
for weak and fresh batteries respectively.
now i want to let the program calculate the parameters auto-
matically from the current battery level.
and now (finally... :-) my questions:
- has anyone tried this before?
- does anybody know if the torque of a motor is proportinal to the
voltage? or does it rise "in the square"? or how?
- is it better to adjust the power level of the motor or the time
it runs? (currently, i'm using the latter)
any inputs welcome!
thanks and happy programming
mat
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