Quote:
Originally Posted by Greg McKaskle
If you want to play with this, it may be worth checking to see if your laptop has an accelerometer in it. I know that my last Mac laptop did. It was used to park the hard drive before it landed during a fall.
If so, you can read that accelerometer in LV and play a bit.
I looked on the Apple app store and there are a number of free apps that let you see the accelerometer data and let see their interpretation of the data.
As for using this on the robot, the key cases to think about are the ones where the floor is uneven. Sitting still, the robot and its accelerometer are tilted. Gravity's 1g is no longer in the pure Z direction. It is imparting a force on the other axes. If your code doesn't calibrate and ignore this, it looks like the robot is constantly accelerating in the uphill direction. If you do calibrate it for that tilt, then drive the robot a foot and stop it again, the floor is likely tilted a new direction. Once again, sitting still, you will accelerate uphill.
It is an interesting problem, and accelerometers are certainly useful on the robot, but integrating them to identify speed or location without isolating them from the force of gravity is quite hard.
|
Do you have any examples of how to get that built-in accelerometer in LV? we're not using any apple products, but it may be worth it to just check and see if we have one..
As for the tilt, if we had a gyro on there, and re-calculated the "down" direction whenever we weren't level, would that help fix the tilt problem? I mean, this year, the floor was totally level, but i guess it would go nuts if we get tipped or something.