04-12-2004, 14:01
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has common ground with Matt Krass
AKA: Mike Sorrenti
 FRC #0237 (Sie-H2O-Bots (See-Hoe-Bots) [T.R.I.B.E.]) Team Role: Programmer
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Join Date: Dec 2004
Rookie Year: 2004
Location: Watertown, CT
Posts: 1,003
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Re: Turn 90 Degrees
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Originally Posted by colt527
Well, it's not that simple. In the code there is no direct way to make the robot turn 90 degrees. You control the motors through the PWM variables. And in that you do not control how many times they turn directly. You control the amount of power that is sent to the individual motor. For example, if pwm01 and pwm02 control the left and right side of you mini-bot:
pwm01 = 0;
pwm02 = 255;
Your robot would go spining to the left, it would not stop until you set pwm01 and pwm02 back to 127. The easiest, but least accurate method of doing what you are talking about would be "dead reconing" in which you just set pwm01 = 0 and pwm02 = 255 for a certain amount of time, which you can control by using a simple incrementing variable. Ill post some source code for that in a second.
btw: IM me on AIM @ coltfive2seven if you want some more in-depth explination.
The next ways which are more advanced but still not 100% accurate would be to use a gyroscope, which sences angular rate. So if the robot is turning to the right then it would sence it. You could use that in combination with some guese and check to get a reasonable accurate 90 degree turn.
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I think a gyroscope is out of the question, i'll be sure to IM you later. Thanks.
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