Subject:
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Re: moving in a straight line with two motors?
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Newsgroups:
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lugnet.robotics
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Date:
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Sat, 14 Nov 1998 15:42:48 GMT
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Original-From:
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Daniel Miller <DANIELMI@EXPERT.CCstopspammers.PURDUE.EDU>
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Viewed:
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2234 times
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On Sat, 14 Nov 1998, Patrick Gili wrote:
> Daniel Miller wrote in message ...
> This is all fine and well, but I was thinking about something
> a little less complex. The RCX doesn't have the power to perform
> image processing and sophisticated feedback control. What I was
Image processing?
Proportional control pushes back proportional to deflection (i.e. it
simulates a spring). Derivative control pushes back proportional to rate
of deflection (i.e. it simulates dynamic friction). Integral control
pushes back proportional to to the area under the curve.
It should be possible to implement this in the RCX. The math is as
follows (assuming an angle sensor):
error = desired angle - actual angle
control effort = base control effort
+ Kp * error
+ Kd * (error-prev_error)/delta_t
+ Ki * error * dt
where Kp, Ki, and Kd are gains chosen beforehand.
(This is a gross approximation... but it ought to work...)
> Another
> simple example consists of these bots that follow a line. These
> bots close the loop using a light sensor to determine when the
> bot is no longer going the right direction.
This is a _very_ simplified version of proportional control.
Daniel "Dan'l" Miller Senior, School of Aeronautics and
danielmi@expert.cc.purdue.edu Astronautics, Purdue, Indiana
danielmi@cartoon.ecn.purdue.edu
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Message is in Reply To:
 | | Re: moving in a straight line with two motors?
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| Daniel Miller wrote in message ... (...) What? (...) This is all fine and well, but I was thinking about something a little less complex. The RCX doesn't have the power to perform image processing and sophisticated feedback control. What I was (...) (26 years ago, 14-Nov-98, to lugnet.robotics)
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