Subject:
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Re: Dead reckoning (was Re: Rover Programming)
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Newsgroups:
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lugnet.robotics
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Date:
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Fri, 28 Jun 2002 08:30:29 GMT
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Original-From:
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Simon Brooke <[simon@jasmine.]NoSpam[org.uk]>
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Reply-To:
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simon@jasmine=saynotospam=.org.uk
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Viewed:
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1045 times
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On Friday 28 Jun 2002 8:27 am, you wrote:
> Simon Brooke wrote:
> > So I'm now looking at software solutions that reduce inertia - i.e.
> > gradually ramping up and down speed in turns. We'll see how this
> > goes.
>
> Yes - managing accelleration is a 'must'...both in speeding up and
> slowing down - and easing into turns. An abrupt change of speed will
> generally result in wheel slip.
Well, I did the code changes to do acceleration and deceleration
yesterday and it's amazingly successful. I'm not yet quite as good as
the Seattle robot, but I suspect that's at least partly because mine
has a narrower track. I now believe that, with tweaks to the robot and
the code, I can get down to 1% error.
I'm *very* encouraged.
> The two-large-wheels-plus-caster(s) seems to be the undesputed best
> design for navigation (at least with Lego parts).
Oh, well, I'm currently using two large wheels plus two casters, so I'm
probably OK.
Cheers
Simon
--
simon@jasmine.org.uk (Simon Brooke) http://www.jasmine.org.uk/~simon/
;; when in the shit, the wise man plants courgettes
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Message has 1 Reply:
 | | Re: Dead reckoning (was Re: Rover Programming)
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| Hi Simon, In my experience casters can introduce errors in the navigation since they tend to not be in the correct position following a turn. Over time this small error can add up. I have had some success by rebuilding my bot to center as much of (...) (22 years ago, 28-Jun-02, to lugnet.robotics)
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Message is in Reply To:
| | Re: Dead reckoning (was Re: Rover Programming)
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| (...) Yes - managing accelleration is a 'must'...both in speeding up and slowing down - and easing into turns. An abrupt change of speed will generally result in wheel slip. (...) It was good in a straight line - but *hopeless* in a turn because the (...) (22 years ago, 28-Jun-02, to lugnet.robotics)
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