Subject:
|
Re: searching walls
|
Newsgroups:
|
lugnet.robotics
|
Date:
|
Tue, 27 May 2003 12:02:42 GMT
|
Original-From:
|
Steve Baker <sjbaker1@airmail.STOPSPAMnet>
|
Viewed:
|
818 times
|
| |
|
|
> > The start position/orientation don't have any restriction.
> > I'm working with 2 rotation sensors(each per left/right motor-wheel) and 1
> > ultrasonic sensor(technicstuff) that can rotate(but without rotation sensor
> > because are 1 RCX), with leJOS.
If you use an adder/subtractor mechanism for driving the robot then
you can have one rotation sensor measuring how much you are turning
and the other measuring how far forwards you are driving.
Then, you can have the ultrasonic sensor driven from the same output
of the adder subtractor mechanism as the 'forward/backward' rotation
sensor. As the robot drives along, the sensor will be rotatated and
your software can continuously measure the distance out in any direction.
Alternatively, you could remove the forward/backward rotation sensor
and use the ultrasonic detector (pointing forwards) to figure out how
fast you are moving by measuring how rapidly the distance to the next
wall decreases. That frees up an RCX input that you can use to measure
the direction the ultrasonics are pointing.
However, through all of this, beware. The lego rotation sensor has
a tendancy to lose or gain counts when it's rotated very slowly.
This can result in a cumulative error that would mean that your
idea of which way you are steering (or pointing the sensor) would
gradually get less and less accurate.
---------------------------- Steve Baker -------------------------
HomeEmail: <sjbaker1@airmail.net> WorkEmail: <sjbaker@link.com>
HomePage : http://www.sjbaker.org
Projects : http://plib.sf.net http://tuxaqfh.sf.net
http://tuxkart.sf.net http://prettypoly.sf.net
-----BEGIN GEEK CODE BLOCK-----
GCS d-- s:+ a+ C++++$ UL+++$ P--- L++++$ E--- W+++ N o+ K? w--- !O M- V-- PS++ PE- Y-- PGP-- t+ 5 X R+++ tv b++ DI++ D G+ e++ h--(-) r+++ y++++
-----END GEEK CODE BLOCK-----
|
|
Message has 1 Reply:
Message is in Reply To:
 | | Re: searching walls
|
| For the drive, can you apply an adder-subtracter mechanism using one rotation sensor? If so, other rotation sensor could be used on rotating ultrasonic. (...) (21 years ago, 27-May-03, to lugnet.robotics)
|
12 Messages in This Thread:
  
 
- Entire Thread on One Page:
- Nested:
All | Brief | Compact | Dots
Linear:
All | Brief | Compact
This Message and its Replies on One Page:
- Nested:
All | Brief | Compact | Dots
Linear:
All | Brief | Compact
|
|
|
|
