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Originally Posted by AustinSchuh
We might have been able to use an accelerometer, but we heard enough stories about people trying to use one for traction control and determining that it wasn't working well that we didn't bother to try. It also was at the point of diminishing returns, since the bot didn't skid sideways very much anyways.
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So, just correcting the skid value from an absolute sensor (ex Ultrasonic sensor to a known wall) is all that is required to have accurate readings?
Also on carpet, there isnt as much skidding, so it is not as important then?
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I don't recall the equation, but you can spend some time on the wikipedia page or the internet in general and get a parametric equation for the cubic spline.
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Ok, then thats not too hard. Yay math!
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turn = error * k1 + (error - lasterror) * K2
left = 1.0 + turn
right = 1.0 - turn
Like always, the hard part is tweaking the constants.
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and your error has what value? current heading - target heading, or something similar?