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 21:41:00 GMT
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Viewed:
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1645 times
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In lugnet.robotics.rcx.legos, Martin Cornelius writes:
>
> Hi Ben, i think that's very interesting work you're doing, especially
> because i'd like to build sophisticated balancing bots, and already got
> 2 rotation sensors from lego world shop for this reason.
That's one of the reasons I got mine. I was trying to make a simple balancer
when I built the pendulum I described (with 4.5 degree accuracy). There were a
lot of problems with my mechanism, but the overriding problem was that the 0
point would change and leave the program in a state where it was deliberately
unbalancing the rod.
95% of those problems went away when I chagned the ad2state table, but that's
still not good enough for a bot that's trying to balance, since one unit off is
enough to lose control.
> but if you have patches to the rotation sensor code - i'm
> highly interested in that.
What's the right way to submit patches to legOS? Do I post unidiffs to
lugnet? Email them to you and Marcus?
> This gearbox will yield a resolution of 4.5 degrees, if i got that
> right. For the balancing controllers i'm currently thinking of that
> might not be fine grained enough. Have you tried to achieve higher
> resolutions ?
I've built multipliers of higher degree but I didn't have rotation sensors at
the time. 40->8 * 40->8 * 40->8 = 125x seems like the most likely candidate.
I tried building with 40->24 sets (expecting smaller backlash from the 24t than
the 8t) but a 5/3 multiplier doesn't build up very fast (you need 9 pairs to
get 100x!).
--Ben
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Message is in Reply To:
 | | Re: rotation sensor mystery solved?
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| (...) Hi Ben, i think that's very interesting work you're doing, especially because i'd like to build sophisticated balancing bots, and already got 2 rotation sensors from lego world shop for this reason. I'm currently not actively working on that, (...) (25 years ago, 26-Jan-00, to lugnet.robotics.rcx.legos)
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