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Unread 26-02-2003, 11:14
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pic: Team 100 Odometer

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Unread 26-02-2003, 11:19
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Light sensor odometer

Cool!

Do you have similar sensors on another wheel?

It seems you'd need odometers on at least two wheels (if you are dead reckoning in autonomous mode) to know how much you have turned and how far you've gone.
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Unread 26-02-2003, 11:25
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what are you sensing on the wheels?

what is reflecting back?


Looks cool...i've seen alot of teams doing this. Why did you do 2 on one wheel? Did you find 1 didn't work as well?
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Unread 26-02-2003, 11:35
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Quote:
Originally posted by oneangrydwarf
Why did you do 2 on one wheel? Did you find 1 didn't work as well?
I don't know if this is why team 100 did it, but putting 2 on one wheel 90 degrees out of phase allows you to determine both distance traveled as well as the direction the wheel is turning.
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Unread 26-02-2003, 11:55
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wooo
neato!
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Unread 26-02-2003, 12:00
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Thats pretty cool, looks like you put alot of effort into that. However, why not just use a normal off-the-shelf optical encoder, it would much better resolution and might even be easier to do. It could be included as part of your custom electronics.
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Unread 26-02-2003, 12:47
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Quote:
Originally posted by IVIaxor
Thats pretty cool, looks like you put alot of effort into that. However, why not just use a normal off-the-shelf optical encoder, it would much better resolution and might even be easier to do. It could be included as part of your custom electronics.
Many optical encoders are expensive and the number of pulses they can send back to the brain far exceeds the stamp processor. This is just simple way of doing it, similar to an optical mouse.
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Unread 26-02-2003, 13:37
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Actually, it wasnt that hard. You just need to make sure that the reflective sections are aligned and spaced perfectly. The reflective tape stuff is CD labels. We are using the Gyro partnered with this system to do do some pretty neat stuff. Im sure someone can guess what. None of this has been tested too much, so we arent sure how its going to work. Our line following has been tested, and works fairly well. With fine tuning, it should be somewhere in the 5-8 second zone to get on the ramp.

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Unread 26-02-2003, 14:28
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Nice work.

Out of curiosity, are you processing the sensor data with the robot controller or an external circuit?
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Unread 26-02-2003, 14:58
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We thought about using optical encoders of some kind...but eventualy ended up using mechanical rotary encoders...they are cheap and easy to swap out if they get smashed, and really light...We opted for the 4 bit ones which are nice but the grey code conversion was a bit tricky...plus it would be nice if they would send documentation with stuff like this.

Great idea to use CD labels...very cool
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Unread 26-02-2003, 14:59
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Nope, it goes straight to the RC through the digital inputs I believe...it may be the analogs. We dont use a custom circuit

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Unread 26-02-2003, 15:07
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Thats really nice. It looks cool.

One question though, It is illegal. Last year there could be no reflective tape anywhere on the robot. It is still in effect this year?
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Unread 26-02-2003, 16:28
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We actually used CD's this year. AOL ones are cheap. We just painted a black non reflective line at 120 degree marks to get 3 (or did they end up with 6?) counts per revolution.
Coupled with the Banner sensors it was a pretty easy set up to do
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Unread 26-02-2003, 17:01
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Quick question

Really, why do you need two? If it's linked to the RC, as you say, you already know what direction the motor is going - you're sending it the data for it's rotation, after all.

Was there another reason for putting two of them on the wheel, like accuracy?
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Unread 26-02-2003, 17:23
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Will there be some kind of traction control installed?

If one of the wheels starts slipping, power would be transfered to other wheels? That would be cool..
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