Subject:
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RE: Moving Straight
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Newsgroups:
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lugnet.robotics.handyboard
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Date:
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Tue, 29 Jun 1999 14:57:29 GMT
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Original-From:
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Landahl, Bill <Bill.Landahl@morganite.%avoidspam%com>
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Viewed:
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921 times
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Our first challenge was to get our robot to move ahead straight. There
seemed to be a difference in the motor torques. We used shaft encoders and
compared the counts every 200 to 500 milliseconds. Slowing down the motor
that had a higher count, for 50 to 100 milliseconds. You have to use trial
and error with this approach as there is an optimum time for looking and an
optimum time for slowing the motors.
> -----Original Message-----
> From: Patrick Tuttle [SMTP:tuttle@ms.com]
> Sent: Monday, June 28, 1999 8:39 PM
> To: Sean Verret
> Cc: handyboard@media.mit.edu
> Subject: Re: Moving Straight
>
> I use the 9 gram Piezo gyro in my Hand Launch Glider to keep it moving
> level despite strong wind conditions.
> Could you use that in your robot as a "Rudder" input? The 9 gram Piezo
> gyro
> costs about 9,500 yen here in Japan.
> That is about $80.00. I think there are even cheaper ones out there, but
> they are a touch heavier.
>
> Patrick
>
> Sean Verret wrote:
>
> > Is there anyone who has written or seen IC code that will keep a robot
> > moving straight with 2 DC motors and four side sensors? 2 on each
> > side. The main reason I ask is because one of my DC motors seems to put
> > out more power that the other one and this moves faster and my robot
> > like to turn into walls....
> >
> > I'm using the analog sensor inputs with IR sensors - the values range
> > from 0-255
> > 255 being can't see anything, and 0 being right against a wall..
> >
> > I was thinking something like - if back left > 128 speed up left motor
> > or decrease right motor speed and similar scenarios for the other
> > sensors....
> >
> > I'm asking just to save myself some time.... If anyone can help that'd
> > be greatly appreciated!!
> >
> > Cheers
> > Sean Verret
> > Design Services
> > PMC-Sierra ext 2527
--
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