Society of Robots - Robot Forum

Software => Software => Topic started by: andreahmed on March 25, 2008, 07:39:47 AM

Title: semi-circle move
Post by: andreahmed on March 25, 2008, 07:39:47 AM

Hi, i wanna my robot to move around a semi-circle , how can i do this ? and what tools should i've and what's the algorithm for it ?

Title: Re: semi-circle move
Post by: Steve Joblin on March 25, 2008, 08:24:30 AM

I assume your robot is a "two wheel drive with a center caster" design?  If so, just drive one wheel faster than the other... the greater the difference between the speed of the two wheels will control the "tightness" of the arc.

Title: Re: semi-circle move
Post by: andreahmed on March 25, 2008, 09:11:18 AM

Hi , yea same design but there are two casters in the front , but as you know PWM will depend on battery and i dont want to depend on that ... also i want an accurate curve ... how do i do that ? would an equation of the circle help also how much an encoder can help in that ?

thanks

Title: Re: semi-circle move
Post by: Steel_monkey on March 25, 2008, 04:15:00 PM

Encoder should solve the problem. I am using muse wheels-middle buttons from widely used Genius mice as driving wheels for my robot (sounds lol). And 10 sectors per turn is enough to realise stable feedback and maintain constan speed. However, number of sectors should be chosen from desirable speed.

Title: Re: semi-circle move
Post by: Admin on March 27, 2008, 03:37:28 PM

 ;D

http://www.societyofrobots.com/programming_differentialdrive.shtml

http://www.societyofrobots.com/sensors_encoder.shtml