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Originally Posted by M. Krass
How do you compensate for the cams varying radius as it moves? The rate at which your pitch changes is never constant.
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Many things are nonlinear in this system. Camera tilt angle is not proportional to distance. Distance is not proportional to the required pitch angle. Pitch angle can be, but is not necessarily, proportional to the cam position.
Fortunately, the nonlinearities are all irrelevant if you forego detailed computation and just make a simple lookup table that converts the measured camera tilt directly to the desired pitch adjustment. Creating that table is as easy as moving the robot forward and backwards, measuring the camera tilt, and manually tweaking the pitch adjustment until it works the way you want.