Squirrels have fuzzy tails.
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What the robot should do is accelerate to the specified speed (or max speed), drive straight and slow down before it will reach the set distance. Same for turns.The robot will have a function that will receive commands or calculate new distance segments the robot should travel and the turns. A separate Driving function will take care of the execution of the set distance. I have 2 ISR that will return left and right encoder counts. But I am not sure how to set up the PID routine (should I use an interrupt?) and especially how the PID routine will adjust the speed for the servos. Also, I need a way to do the acc-slow down part of the function.Any help would be greatly appreciate.