Thread: 1551's encoder-controlled arm
View Single Post
  #8   Spotlight this post!  
Unread 20-02-2011, 01:14
WizenedEE's Avatar
WizenedEE WizenedEE is offline
Registered User
AKA: Adam
FRC #3238 (Cyborg Ferrets)
Team Role: Leadership
  
Join Date: Jan 2011
Rookie Year: 2010
Location: Anacortes, WA
Posts: 395
WizenedEE is a name known to allWizenedEE is a name known to allWizenedEE is a name known to allWizenedEE is a name known to allWizenedEE is a name known to allWizenedEE is a name known to all
Re: 1551's encoder-controlled arm
Quote:
Originally Posted by Nadav Zingerman View Post
You should do that right now. Accelerometers are terrible for this. You would have to integrate them twice, increasing the noise by more than a factor of two. The noise is quite bad already, and you will probably have a long cable run from the wrist to the controller, probably running next to some electrically noisy motors. If your accelerometer is analog (it probably is), this would make it impossible to use for this task. Even if it's digital, I doubt it can work at all.

Switch to encoders or potentiometers as soon as possible.
We're getting around 5 degrees of accuracy. We're not actually measuring the acceleration of the arm (that's one of the problems) we're measuring the acceleration of something much bigger... gravity.