Quote:
Originally posted by StevenT
Your three observations above are exactly correct.
1)The robot knows where it is by using our custom circuit (with a Motorola HC08 processor) that reads a homemade encoder wheel, the gyroscope and the wheel direction pot. The pot tells the custom circuit where the "crab" wheels are pointed relative to the frame of the robot. The gyro is integrated to tell us exactly where the robot is pointing on the field (like a compass). With that information, as the wheel moves, we can map our current location to an X,Y coordinate on the field. So, the custom circuit always knows where the robot is on the field (within about an inch...although position is reported to the RC in 2" increments).
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Based on what you said above, if your robot is up against a hard barrier and is spinning it's wheels, will it throw off all of your calculations because your encoders would be still spinning? Or is your encoder non-powered so that it just follows the terrain and doesn't spin when against a barrier. I would definately like to know more about this 'Wild' system.