Subject:
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Re: Patched firmware to improve rotation sensor, was Re: Robolab, byte codes and assembler
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Newsgroups:
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lugnet.robotics, lugnet.robotics.rcx.robolab
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Date:
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Sun, 30 Nov 2003 13:06:29 GMT
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Viewed:
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3845 times
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> Much to my embarassment, I have to agree with Philippe that the patch
> doesn't work very well. I try to figure out what went wrong.
>
> > - counts up 2 by 2, but counts down correctly one by one
> This is the expected performance as described in the example in my
> original post. The
> "+1" state is an "ambiguous condition.
It took me some time to figure out why, but you are right, the ambiguous
transitions occur only while counting up. What you could do though would be to
count +1 while going from state3 to state2_ambiguous, and correct "phantom
transition" by substacting 2 if the next level read was L1. This way the
up-counting would be regular "by 1" in most cases.
What does your state machine do when you get a L1 to L2 transition, that can
occur when going from L1 to L3 CW (same thing for the L2 to L1 when going from
L2 to L0 CW)?
Philo
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