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Originally Posted by Alan Anderson
... However, a reliable autonomous routine pretty much requires closed loop software control of motor speed.
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Please don't tell our robot. We took the encoders off the drive wheels and mounted them on two boggie wheels about 6 inches each side of dead center - got better distance measurement that way. Direction was not a problem. Ask the folks at Rah Cha Cha or Novi - it would cap the center side goal dead solid perfect, or, with the gyro telling it when to stop turning, it could snatch a tetra from the autoloader and hold it over the center goal. The motor control was binary - on, then off.