Subject:
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Re: Odometers
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Newsgroups:
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lugnet.robotics.handyboard
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Date:
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Wed, 26 Mar 1997 02:37:01 GMT
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Original-From:
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Demian Bigelow <DBIGELOW@BU.EDUihatespam>
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Viewed:
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1499 times
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"You pass this way but once, do it right"
On Tue, 25 Mar 1997, Gordon Smith wrote:
> > Has anyone used odometers to make their bot drive in a straight line.
> > I am trying to do this and it seems like the delay in reading the
> > encoder values from 1 line to the next causes problems. I have tried
> > taking two results after sleeping for 0.3 seconds subtracting
> > these 2 values and correcting accordingly but this still doesn't
> > work well. Maybe the time isn't precise enough???
> > If anyone can share their experiences with this I would appreciate
> > it.
> >
> > Here is a sample of the procedure I call to check the encoders and
> > try to correct accordingly.
> >
> > Thanks,
> > Tom Hueske
>
> Tom,
> The problem most likely is not with the code but with the motor driver
> software. At the present time, the handy board motor driver routine only
> allows you to select from 7 power levels to the motor. With only 7 levels to
> choose from, you won't have precision motor capabilites.
>
> Gordon F. Smith II
> SDSU Mechanical Engineering
> Graduation: T -60 days and counting!
>
>
Exactly the problem. So I've kind of rigged my motor code to take care to
create more than 7 speeds. For instance, by alternating between to levels
of PWM very quickly you can fake more motor speed levels. The exact
amount of time at each level is a matter of experiment, but the concept
has been running my bot in real straight lines. It's a bit processor
intense for what it doing though.
Demian Bigelow
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Message is in Reply To:
 | | Re: Odometers
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| (...) Tom, The problem most likely is not with the code but with the motor driver software. At the present time, the handy board motor driver routine only allows you to select from 7 power levels to the motor. With only 7 levels to choose from, you (...) (28 years ago, 26-Mar-97, to lugnet.robotics.handyboard)
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