Regbot calibration - Revision history

Jca: /* Calibration */

2025-12-30T19:10:18Z

Calibration

← Older revision		Revision as of 21:10, 30 December 2025
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	In the REGBOt GUI, the "robot" pane has the basic configuration		In the REGBOt GUI, the "robot" pane has the basic configuration

	[[File:~~gui~~-robot-2025.png \| 800px]]		[[File:Gui-robot-2025.png \| 800px]]

	Figure 1. Basic robot settings.		Figure 1. Basic robot settings.

Jca: /* Calibration */

2025-12-30T19:08:35Z

Calibration

← Older revision		Revision as of 21:08, 30 December 2025
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	In the REGBOt GUI, the "robot" pane has the basic configuration		In the REGBOt GUI, the "robot" pane has the basic configuration

	[[File:gui-robot.png \| 800px]]		[[File:gui-robot-2025.png \| 800px]]

	Figure 1. Basic robot settings.		Figure 1. Basic robot settings.

Jca: /* Gyro */

2023-12-07T12:19:50Z

Gyro

← Older revision		Revision as of 14:19, 7 December 2023
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	To change, press "edit", do the change, and press "save" - and to be permanent after a reboot press "save to flash"		To change, press "edit", do the change, and press "save" - and to be permanent after a reboot press "save to flash"

	== ~~Gyro~~ ==		== IMU ==

	The ~~gyro~~ is primarily used when in balance but could be useful for turning as well.		The IMU (Inertial Measurement Unit) is primarily used when in balance but could be useful for turning as well.
	The gyro has an offset that can be calibrated away.		The gyro has an offset that can be calibrated away.

Jca: /* IR distance */

2023-12-07T12:18:54Z

IR distance

← Older revision		Revision as of 14:18, 7 December 2023
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	== IR distance ==		== IR distance ==

	The 2 distance sensors need calibration too.		The distance sensors need calibration too, but is not needed for the 'control 1' course.

	[[File:gui-ir-2.png \| 600px]]		[[File:gui-ir-2.png \| 600px]]

	Figure 5. Calibration of the IR sensor.		Figure 5. Calibration of the IR sensor.

Jca: /* Edge */

2023-12-07T12:18:19Z

Edge

← Older revision		Revision as of 14:18, 7 December 2023
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	== Edge ==		== Edge ==

			Edge sensor is not implemented on most Regbot robots.

	Edge (or line) detector for tape lines.		Edge (or line) detector for tape lines.

Jca: /* Calibration */

2023-12-07T12:14:42Z

Calibration

← Older revision		Revision as of 14:14, 7 December 2023
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	Figure 1. Basic robot settings.		Figure 1. Basic robot settings.

	* "Base WB [m]" is the distance between driving wheels. This is important for heading calculation and turning.		* "Base WB [m]"; is the distance between driving wheels. This is important for heading calculation and turning.
	* "gear N" is gear reduction - normally 9.68 on Regbot and 10 or 30 on Robobot		* "gear N"; is gear reduction - normally 9.68 on Regbot and 10 or 30 on Robobot
	* "pulses per rev" is encoder configuration - number of pulses for one motor revolution - is 48 on Regbot and 64 on Robobot motors.		* "pulses per rev"; is encoder configuration - number of pulses for one motor revolution - is 48 on Regbot and 64 on Robobot motors.
	* "wheel radius" is important for distance calculation; adjust so that a 1m in the distance field is 1m in reality.		* "wheel radius"; is important for distance calculation; adjust so that a 1m in the distance field is 1m in reality.
	* "~~COG~~ tilt offset" Center of Gravity tilt offset is important ~~when keeping balance, and should be adjusted~~, ~~so that "tilt" (lower right)~~ is ~~0, when in balance (hand held), if not, then add tilt value~~ to ~~"COG tilt offset". Accuracy should be about 0.01 radian (0.5 degree). As an alternative, adjust the orientation of the IMU board in~~ the IMU tab.		* "tilt offset"; Center of Gravity tilt offset is important, Calibration is moved to the IMU tab.

	To change, press "edit", do the change and press "save" - and to be permanent after a reboot press "save to flash"		To change, press "edit", do the change, and press "save" - and to be permanent after a reboot press "save to flash"

	== Gyro ==		== Gyro ==

Jca: /* Gyro */

2023-12-07T12:10:37Z

Gyro

@@ Line 33: / Line 33: @@
 * To calibrate, make sure the robot is steady (no movement, no touch), then click the "calibrate" on the "IMU" pane. This will average the values over 1s and use them as an offset.
 * After this, the 3 gyro values should have zero mean.
-* The tilt should be zero when in balance (Regbot) or standing on level ground (Robobot). Adjust the board rotation (around the Y-axis) to obtain zero tilt.
 <!--

Jca at 16:01, 30 January 2023

2023-01-30T16:01:11Z

← Older revision		Revision as of 18:01, 30 January 2023
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	Back to [[Regbot]].		Back to [[Regbot]].
			Back to [[Robobot]].

	== Version 2023 ==		== Version 2023 ==

Jca: /* Gyro */

2023-01-30T15:57:19Z

Gyro

← Older revision		Revision as of 17:57, 30 January 2023
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	== Gyro ==		== Gyro ==

	The gyro is primarily used when in balance, but could be ~~usefull~~ for turning as well.		The gyro is primarily used when in balance but could be useful for turning as well.
	The gyro has an offset, that can be calibrated away.		The gyro has an offset that can be calibrated away.

	[[File:gui-imu.png \| 800px]]		[[File:gui-imu.png \| 800px]]

	Figure 2. Gyro calibration. The lower left graph ~~are~~ the gyro values, when ~~tha~~ calibration values are implemented. The lower right graph is the accelerometer (raw) values - no calibration offered here. The top right graph is the tilt angle - a combination of gyro and ~~acceleromerter~~ values (complementary filter).		Figure 2. Gyro calibration. The lower left graph is the gyro values when the calibration values are implemented. The lower right graph is the accelerometer (raw) values - no calibration is offered here. The top right graph is the tilt angle - a combination of gyro and accelerometer values (complementary filter).

	* To calibrate, make sure the robot is steady (no movement, no touch) then click the "calibrate" on the "IMU" pane. This will average the values over 1s and use as an offset.		* To calibrate, make sure the robot is steady (no movement, no touch), then click the "calibrate" on the "IMU" pane. This will average the values over 1s and use them as an offset.
	* ~~after~~ this the 3 gyro values should have zero mean.		* After this, the 3 gyro values should have zero mean.
			* The tilt should be zero when in balance (Regbot) or standing on level ground (Robobot). Adjust the board rotation (around the Y-axis) to obtain zero tilt.

	<!--		<!--
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	== Edge ==		== Edge ==

Jca: /* Calibration */

2023-01-30T15:52:23Z

Calibration

← Older revision		Revision as of 17:52, 30 January 2023
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	Back to [[Regbot]].		Back to [[Regbot]].


			== Version 2023 ==

			A number of adjustments have been implemented, but the calibration is the same and should be recognizable.

	== Calibration ==		== Calibration ==