[vamfun]

Originally Posted by Joe Johnson

Now we have gotten far afield but if you want a project to implement on the Jaguar, consider the following:

This paper (Closed-Loop Motion Control for Mobile Robotics -- by Rich LeGrand available for $1.50) makes reference to the idea of using Back EMF to control a motor. The great thing about it is that you don't need to http://www.chiefdelphi.com/forums/ne...ly&p=913687put any extra stuff on the motor to get PID control. FYI, Rich LeGrand is from Charmed Labs which hosts this example video that dropped my jaw.


If you want to learn more about how it works, look at this link from another cool robot website, Acroname.com. I think they really do a pretty good job of making the concepts understandable. Actually, Acroname.com is part of the way there already in that they offer an H-bridge with velocity feedback built in.

So... I want to see this built in as a feature of the Jaguar. You could command motor speed for any motor on the robot! Think of the well behaved robots you'd see if the default code implemented velocity control as the standard method move a drive wheel? Need a beater bar to move a a standard speed without having the fuss an muss of adding a sensor and implementing a feedback loop? no prob.

This would be a very big deal for FIRST robots.

For your consideration.

Joe J.

Maybe you can repost this to

http://www.chiefdelphi.com/forums/sh...light=back+emf

You probably were not hanging around CD when I started this thread else I'm sure you would have contributed then.