Quote:
Originally Posted by Mentor_Mike
Well, I'd love to tell you all exactly how this was pulled off, but I'm honestly not sure how much detail I"m allowed to reveal. (We haven't had a discussion with the team about this yet, so I don't want to jump the gun.)
Here's what I can tell you though:
- We use two encoders, one per side, in addition to another type of sensor.
- We found the accelerometers WAY too noisey, especially with the bumpy playing surface.
- All four (well, 3 and a bit wheels) are driven, we have no idlers.
- Haven't worked out (unfortunately) how to implement any type of optical sensor to figure out linear velocity. [I'm convinced those new-fangled "gamer mouses" would work, but we don't have the $$$ to test this theory.]
BUT, I'll probably have a white paper drawn out by our first regional (Toronto) and it'll be posted for all to see.
M_M
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Well, if I had to hazard a guess at what that other sensor might be, I'd be willing to guess that it is a current sensor. Since torque is proportional to motor current, you could monitor the current draw of your motor to determine at what torque your wheels started to spin, then put in some fairly simple code to limit current to that maximum amount.
Not sure why you'd need encoders with that setup... hmmm.... perhaps rather than measuring current, you are measuring voltage across the motors and comparing it to motor speed.
It looks like Ontario has spawned another great team. Good luck at Hershey Centre, GTR is a great tournament.
Jason