Thread: Autonomous using encoders
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Unread 30-12-2005, 13:16
Mr.G Mr.G is offline
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AKA: Kevin
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Re: Autonomous using encoders
Dave everything is working correctly as far as the encoders go. I am looking to find out how other teams keep the robot going straight over long distances. Like you mentioned, an active feedback of the difference between the counts of the 2 sides. Does anyone have a sample equation?

Greg we use solid aluminum wheels so they all have the same diameter, but that is a very good observation that other teams should note.

This will also help solve other problems we have had:
Examples:
1. We get everything working good in one robot and then we download it into another robot with the same drive train and it tracks different. I assume it is because there are different motors and differing amount of friction in the drivetrains on each side, but we should be able to use the encoders to compensate for that.
2. The robot frame take a hit and start binding on one side, we don’t notice it, but from then on all the autonomous functions are off.
3. Or we burn up a motor or have one going bad and everything changes in autonomous.
4. The floor at one end of the area isn’t as level as the other end and the robot tracks different yet again.

As you can see this gets to be very frustrating and time consuming.