Subject:
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Re: Precise turns of any angle!
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Newsgroups:
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lugnet.robotics
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Date:
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Sat, 12 Jan 2002 04:22:22 GMT
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Original-From:
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Steve Baker <sjbaker1@airmail.netIHATESPAM>
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Reply-To:
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SJBAKER1@AIRMAILihatespam.NET
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Viewed:
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2525 times
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"Brian H. Nielsen" wrote:
> The robot has a top mounted cane which rotates 360 degrees and about
> 2.75" off the floor. The cane is on large 56 tooth turntable and linked
> to a rotation sensor in a 7:1 gear ratio to increase the sensitivity of
> the rotation sensor to 112 clicks per full rotation of the cane. The
> turntable is mounted over the robot's center of rotation. The assembly
> is driven via a motor and pulley setup, allowing the motor to run
> continuously without fear of burning out when the cane is in contact
> with an obstacle.
>
> The basic theory of operation is that the rotation sensor tracks the
> orientation of the cane and when the cane is in contact with an object
> it stops rotating and we have a directional reference against which to
> make course corrections.
The trouble is that the rotation sensor drops counts when you run it
at low speeds - especially if it's reversing direction frequently.
You can read about my experiments that prove that fact here:
http://www.sjbaker.org/steve/lego/rotation_sensor.html
I'm told that you get much better results using LegOS - but I have
not yet tested that.
----------------------------- Steve Baker -------------------------------
Mail : <sjbaker1@airmail.net> WorkMail: <sjbaker@link.com>
URLs : http://www.sjbaker.org
http://plib.sf.net http://tuxaqfh.sf.net http://tuxkart.sf.net
http://prettypoly.sf.net http://freeglut.sf.net
http://toobular.sf.net http://lodestone.sf.net
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Message has 2 Replies:
 | | Re: Precise turns of any angle!
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| (...) drops counts. However, that only impacts the wall following application only to the extent that it would require periodically going through the initialization function which calculates the distance the robot currently is from the wall. The (...) (23 years ago, 12-Jan-02, to lugnet.robotics)
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Message is in Reply To:
| | Precise turns of any angle!
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| About a year ago I was inspired by discussions about how to get an RCX robot to make perfect 90 degree turns and also by an interest in traversing mazes and collision avoidance. I had an idea to navigate and turn using an approach similar to a (...) (23 years ago, 12-Jan-02, to lugnet.robotics)
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