Subject:
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Re: Precise turns of any angle! -- Rotation Sensor Information
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Newsgroups:
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lugnet.robotics
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Date:
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Mon, 14 Jan 2002 00:21:16 GMT
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Original-From:
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Steve Baker <sjbaker1@*stopspam*airmail.net>
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Reply-To:
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SJBAKER1@nomorespamAIRMAIL.NET
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Viewed:
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7335 times
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Jerry Kalpin wrote:
> In 'The LEGO Lugger', previously posted at
> http://www3.sympatico.ca/jdkalpin, the extended drive shafts for both sides
> of a tracked vehicle, moving in opposite directions, are summed in a
> differential with the difference (hopefully zero)fed to the rotation sensor.
> Because the two motors are never the same there is always a very small
> rotation, perhaps 0.2 rpm. At a count of '+2' the right motor is stopped
> until the count drops to '1' and at '0' the left motor is stopped until the
> count rises to '1'. The count is displayed on the RCX readout and the
> vehicle is quite slow so you can watch it. A straight-line standard is the
> joint in a tile floor.
I believe that in this case, you should use a light sensor looking at a wheel
that's white with a black line marked on it. The software for reading this
is identical to what you would use for line following (a very well researched
topic!) - all the problems of rotation sensors goes away.
> My take on it is that the rotation counter is a good device when used within
> its limitations and I should not expect it to be perfect.
Yes - although I think it's important to know precisely what those limitations
are.
----------------------------- Steve Baker -------------------------------
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