Quote:
Originally Posted by Trevor_Decker
My problem with encoders is that if the wheels slip then the robot will think that it has moved more than it has.
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That's an easy problem to solve - use dummy wheels. In other words, put a wheel on the end of a trailing arm that is lightly spring loaded toward the floor. Hook up the encoder to this wheel. Then if the drivetrain slips, you don't have to worry because this wheel is just an unpowered dummy wheel along for the ride. We've been doing it that way since 2003 and it works perfectly every time. Last year we used two dummy wheels - one on each side of the drivetrain (the dummy wheels were in the same line as the drive wheels). By doing this you can also eliminate the gyro. I'll let you do the math to figure that out.