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 05:41:02 GMT
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Original-From:
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Mike Jones <MICHAELJ@WT.NETantispam>
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Reply-To:
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MICHAELJ@WTavoidspam.NET
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Viewed:
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908 times
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Many people use trial and error to come up with a wheel differencial factor that
should always be applied so that even without looking at the encoders the robot
should move pretty straight. If you do the compensation on the fly that is OK
but during turns and such you may be turning too much or not enough without
adding in this factor. This factor would normally be stored in nonvolotile RAM
or eeprom for future use, too.
Mike
> 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
>
> ------_=_NextPart_001_01BEC23F.B8829DD0
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