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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.
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Actually I have a solution. Mount the encoder disk onto a free wheel that is not connected to a motor. Now the disk only registers pings when the robot moves(hopefully). Of course this is probably the best way to place an encoder disk but unfournatly it is still not perfect. Of course nothing is perfect.
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If either a public officer or any one else saw a person attempting to cross a bridge which had been ascertained to be unsafe, and there were no time to warn him of his danger, they might seize him and turn him back without any real infringement of his liberty; for liberty consists in doing what one desires, and he does not desire to fall into the river. -Mill
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