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#17
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To wysiwyg:
Like what sevisehda said in his post, wheels can and probably will slip. Though he did mention a fix for it, the solution is way to complicated and still has a good chance of failure. What if something else makes the current reading shoot up? Your robot will try to correct something that didn't even happen! Also your robot could be slipping while its in place(it hit a wall), or it could just be slipping a little(hits a box), or maybe its just hit something so hard to push, its moving very slowly(and still drawing a lot of current). Those are all cases that a robot has to respond differently too. The problem with dead reckoning is that is invokes most people to think in terms of a procedure. If any of you have taken a Computer Science 1 course, your programs could be moved in functions, and the main() function would look like a procedure. int main() { //Do this until that //Start doing this... //Last stage now do that return 0; //End of program } To compare what that is in a looping program: while( auton_mode == 1) int stage; if(stage == 1) { //Do what it should do //If "this" happened" set stage to 3 to fix it. } else if(stage == 2) { //Do whatever //If "that" happened" set stage to 1 } else if(stage == 3) { //Do whatever //If this happens go to someother stage } } //while loop Of course the code was oversimplified, but the point is that the robot shouldn't do "this" until "that" is done correctly.And doing "that" correctly is harder than most think. Not only that, but supposing you have a flawless procedural algorithm. The robot runs like games today - it's looping extremely fast and doesn't really do much code different from the previous frame. Converting that procedure into looping code takes a lot of memory because most conditions can only be assured to be true over a large number of loops(iterations) soyou have to remember what happened 20 or 30 loops ago (assuming you need to remember the condition of the robot about a second ago). Thats a big strain on memory, and processing such data to find out a certain condition would be too slow, resulting in big packet losses. To Brian_Lim : I have no clue how a robot will work without a single sensor in autonomous mode. It should know if its going left or right unless you wanna reduce your chance of having it work by 50 percent off the bat. |
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