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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Sun, 2 Jan 2005 03:33:38 GMT
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Original-From:
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dan miller <danbmil99@yahoo#StopSpammers#.com>
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Viewed:
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1076 times
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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 to reintroduce Steve's PWM-with-braking concept but add the derivative and
integral terms from the YAL code, and see if I can get my bot to stabilize in one place *without*
a visual cue on the surface.
I've rebuilt the thing with angle sensors on both wheels (I ordered 8 of them from Pitsco!) -- so
I should have more than enough information to get the thing under control. Just a little bit of
software...
--- John Hay <jhay@icomtek.csir.co.za> wrote:
> 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 is in Reply To:
 | | Re: 2-wheelers
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| (...) 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 (20 years ago, 1-Jan-05, to lugnet.robotics)
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