Quote:
Originally Posted by kiettyyyy
In the case that your drivetrain has some type of inefficiency, ie: a motor going bad, etc. Couldn't your robot perform an arc with a wider or tighter turn radius than you commanded your robot to perform(without encoders or gear tooth sensors on both sides of your drivetrain)?
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Yes, that is absolutely correct. We were basically doing "DEAD RECKONING". Any variation in the drivetrain or an impact from another robot could cause this entire process to fail.
Quote:
Originally Posted by kiettyyyy
How do you go about countering this issue?
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That is what I was referring to in the last part of my post. One reliable way for you to maintain your intended path, taking into account bumps and additional drag, would be to use feedback via encoders in your drivetrain, and your heading with a gyro.
Then when deviations occur from your intended path your robot could automatically respond to them.
As Jay Lundy suggests, it is possible to automatically make a U-turn of a known diameter with a Gyro.
An alternative would also take a little trial and error, but is fairly simple.
Set the inside wheel to a fixed PWM value. Then use a PID loop to control the outside wheel. The feedback you would use it the RATE out of the gyro, not the angle. Give the PID loop the rate you desire, it will then modify the output until the rate is achieved. Then all you have to do is determine what PWM value given to the inside wheel will produce the diameter turn you desire.