Society of Robots - Robot Forum

Software => Software => Topic started by: jocatch on September 18, 2010, 09:30:32 AM

Title: Maze Software Question
Post by: jocatch on September 18, 2010, 09:30:32 AM
About ready to finish my first line follower robot with differental drive motors. Once that is working I want to use it to follow a maze (black line on white floor).

But don't all differental drive robots drift and dont go perfectly straight? If it is transversing a maze it is critcal that it goes straight so it can detect intersections, right and left tunrs, etc. So I assume besides checking the senors for intersections the C code also has to incoprorate the line following code too? It just seems that the sample C code I have seen for maze robots dont' take into account drift. Am I misisng something?

Title: Re: Maze Software Question
Post by: madsci1016 on September 18, 2010, 09:40:09 AM
You are right, there are small errors.

Here's a hefty read that goes over everything you are getting at. Be warned, it's a long read. (
Title: Re: Maze Software Question
Post by: waltr on September 18, 2010, 11:05:40 AM
I have found that with decent wheel speed feedback a differentially driven Bot will go very straight. I have had good success with just proportional feedback control. So study PID but start with just P and evaluate. If there is too much oscillation or over-shoot then add D and I as needed to stabilize the feedback control loop.