Subject:
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Re: Using the rotation sensor as velocity sensor
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Newsgroups:
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lugnet.robotics.rcx.legos
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Date:
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Fri, 8 Sep 2000 14:36:34 GMT
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Viewed:
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3694 times
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Looks solid to me, and I appreciate the effort to isolate all the code
with #defines- hopefully, most future feature additions will be similarly
controlled. If no one objects, I'm going to check this into CVS this
afternoon. Thanks a lot, Jochen...
Luis
On Fri, 8 Sep 2000, Jochen Hoenicke wrote:
> Date: Fri, 8 Sep 2000 07:54:12 GMT
> From: Jochen Hoenicke <Jochen.Hoenicke@Informatik.Uni-Oldenburg.DE>
> To: lugnet.robotics.rcx.legos@lugnet.com
> Subject: Using the rotation sensor as velocity sensor
>
> Hello,
>
> For my own project I need to measure the velocity at which my robot is
> moving. I finally patched the legOS kernel to get accurate values. I
> think that others may profit from a good velocity sensor. The
> velocity is given in rotation ticks (1/16 rotation) per second. My
> patch is available at
>
> http://www.informatik.uni-oldenburg.de/~delwi/legOS/
>
> My first approach was to poll the rotation sensor in 100 ms intervals,
> but it turned out that it was inaccurate (since there are only very
> few ticks in 100 ms) and making the interval longer would make the
> reaction time very bad.
>
> I came to the conclusion that it would be best to measure the interval
> between two rotation ticks and use that to calculate the velocity. To
> get it as accurate as possible I put that code into the legOS routine
> that increments the rotation counter.
>
> The code is a bit more complicated, since the velocity must quickly
> decrease if no more rotation ticks are read.
>
> Jochen
>
>
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Message is in Reply To:
 | | Using the rotation sensor as velocity sensor
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| Hello, For my own project I need to measure the velocity at which my robot is moving. I finally patched the legOS kernel to get accurate values. I think that others may profit from a good velocity sensor. The velocity is given in rotation ticks (...) (26 years ago, 8-Sep-00, to lugnet.robotics.rcx.legos)
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