| Dave Scheck |
19-10-2010 17:49 |
Re: Question on wheel speed sensors
Quote:
Originally Posted by TroyCDH
(Post 977745)
Thinking along the same lines, but more general now, what can be done during autonomous mode to keep straight directions actually straight and "X" degree turns really "X" degrees?
|
As has been mentioned, a gyro or wheel encoders will be your best bet. The tuning of your PID loop will determine how accurate your turn really is.
As far as driving straight goes, you can use those same sensors to make adjustments to your motor speeds to try to maintain a heading.
The tricky part to both of those problems is the experimental tuning of your PID loop(s). (This assumes that you can't get close mathematically). If you need a good C++ PID library, the Simbotics wrote a good one that we've been using for a couple years now. You can download it from their website |
