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Originally Posted by The Lucas
I agree with Alan, just use motor direction. Thats what I do for the GTS on our aiming mechanism. Good Luck!
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I would REALLY like to KNOW for sure that the wheels are turning the way I told them to. This could be very important in a PID control scheme. For instance, when testing some PID code for controlled turning using the gyro, instead of the robot turning in place, I have witnessed it backing up! The reason being that the drill motor on the "backing up" side was turning its "natural" direction, and overpowering the motor on the other side turning its "anti-natural" direction. Had I had feedback from a gear tooth sensor telling me which direction the wheel was turning, I could have compensated.
Maybe when I get one of those round TUIT thingies, I will make a gear tooth sensor version of Kevin's encoder code that will get the rotation direction right.
