Subject:
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Re: 2-wheelers
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Newsgroups:
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lugnet.robotics
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Date:
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Sat, 1 Jan 2005 05:31:33 GMT
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Original-From:
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John Hay <jhay@icomtek.csir.!spamless!co.za>
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Viewed:
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685 times
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On Fri, Dec 31, 2004 at 03:53:52PM -0800, dan miller wrote:
> I don't know if anyone cares about this, but -- I think I figured out something about Legway-type
> bots and the software that drives them.
>
> Just thought this was an interesting observation. I think the practical effect is, his way is
> more robust; but a full PID controller, while a bit harder to calibrate, should have a smoother,
> more stable operation (due to the fact that we're not jerking the motors with braking all the
> time).
>
> Oh, and another thing -- Steve runs his loop at 1MS, and the code I'm using waits 20 ms between corrections!
I think another huge difference (for me at least) is that Steve's code
learns where the upright position is, while most of the others need to
be put down in the correct position. (That is what the piece of code
does in the 50ms if()).
John
--
John Hay -- John.Hay@icomtek.csir.co.za / jhay@FreeBSD.org
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Message has 1 Reply:
 | | Re: 2-wheelers
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| I've been looking at that little piece of code, and trying to duplicate its effect in my YAL-based program, without much luck. When I had Steve's code running, it did tend to stay in one spot, but it eventually became unstable. At this point I plan (...) (20 years ago, 2-Jan-05, to lugnet.robotics)
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Message is in Reply To:
| | 2-wheelers
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| I don't know if anyone cares about this, but -- I think I figured out something about Legway-type bots and the software that drives them. The puzzle is: why do some versions need a full PID controller (Proportional-Derivative Integral feedback), (...) (20 years ago, 31-Dec-04, to lugnet.robotics)
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