Subject:
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Re: rotation sensor mystery solved?
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Newsgroups:
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lugnet.robotics.rcx.legos
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Date:
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Wed, 26 Jan 2000 21:31:29 GMT
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Viewed:
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1273 times
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In lugnet.robotics.rcx.legos, Luis Villa writes:
> On Wed, 26 Jan 2000, Ben Jackson wrote:
> > I put in some debug code to catch rotations which skip a state (transitions
> > like 3->1 or 0->2)
> > [snip]
> > Next I'm going to try adding momentum, and just assume that transitions • which
> > move 2 states moved 2 states in the direction of the last motion.
>
> I tried hacking something like this into the old rotation sensor code,
> and it didn't go real smoothly, but is definitely a necessity (I think)
> if you want the sensor to handle very, very high speed apps.
I added code to assume that 2 step transitions were 2 steps in the last known
direction of travel. The results were MUCH worse than just ignoring those
steps, as the current code does. This seems to suggest that the 2-step
transitions are not actually happening, or are happening for a different reason
than we assume.
The good news (?) is that I have confirmed that the rotation sensor code (with
the one change I mentioned earlier) works 100% until it sees a 2-step
transition. When I modified the kernel to make 2-step transitions halt
rotation processing and notify the user I got perfect results as long as there
were no exceptions.
To those who are looking for rotation sensors: I ordered mine from S&H in late
January and they were backordered. I got them a little over a week ago. S&H
must be getting them in a steady trickle.
--Ben
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Message is in Reply To:
 | | Re: rotation sensor mystery solved?
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| (...) I tried hacking something like this into the old rotation sensor code, and it didn't go real smoothly, but is definitely a necessity (I think) if you want the sensor to handle very, very high speed apps. (...) I am. I'm almost tempted to steal (...) (24 years ago, 26-Jan-00, to lugnet.robotics.rcx.legos)
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