Quote:
|
Originally Posted by de_
I'm looking for feedback on actual competition usage of the gear sensors. How did they do ? If you used the manufacturers recommended circuit for noise reduction/filtering, did the sensors prove to be noise resistant (no missed state changes, false state changes). Could they be counted on for very accurate, repeatable measurements from dead stop to full rotation in autonomous mode ? Any issues keeping within the 2mm air gap requirement under with shock and gear wear/wobble etc ? Anyone find the 2mm max materially conservative or optimistic ? What did you trigger off (gears in the standard transmission, chain drive sprockets ?) We have tested them on the bench and they look promising but things could be quite different in "combat".
|
I used them hooked directly to the digital input on the robot, as we have for a few years and found that i could position the robot to within 2 inches after driving a little over 20 feet with two turns using nothing else but a gyro. I'd say that they work pretty well. They were mounted on our gearbox and counted every revolution of the worm gear, which rotates 16 times for every rotation of the 5.5 inch diameter wheels we used. The gap did not seem to be much of a problem, i think ours were actually about 3 mm away from the gear. The only thing that threw off the autonomous was the fact that the field had numerous divots and holes which caused wheels to spin too much which required the use of encoders on all 4 wheels to have an accurate count.