Robobot calibration - Revision history

Jca: /* Testing calibration */

2026-03-12T13:26:27Z

Testing calibration

← Older revision		Revision as of 15:26, 12 March 2026
Line 195:		Line 195:

	The robot may make a small overshoot in both distance and the turn, so check the logfile to see what the robot thinks; this should match the actual measured drive.		The robot may make a small overshoot in both distance and the turn, so check the logfile to see what the robot thinks; this should match the actual measured drive.

			The Python log file is named ''logfile.txt'' in the ''svn/robobot/mqtt_python'' directory.

			The ''teensy_interface'' also creates a logfile named ''log_y0_pose.txt'' in the ''svn/robobot/teensy_interface/build'' directory.

Jca: /* Testing calibration */

2026-03-12T13:21:22Z

Testing calibration

← Older revision		Revision as of 15:21, 12 March 2026
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	python3 mqtt-client.py -p		python3 mqtt-client.py -p

			The robot may make a small overshoot in both distance and the turn, so check the logfile to see what the robot thinks; this should match the actual measured drive.

Jca: /* Testing calibration */

2026-03-12T13:18:06Z

Testing calibration

← Older revision		Revision as of 15:18, 12 March 2026
Line 185:		Line 185:
	* Order the robot to drive 1m, check how long the robot thinks it has driven, e.g. 1.02m, then compare with reality, and adjust the wheel radius as relevant.		* Order the robot to drive 1m, check how long the robot thinks it has driven, e.g. 1.02m, then compare with reality, and adjust the wheel radius as relevant.
	* Order the robot to turn, e.g. 180 degrees, compare with reality and adjust the distance between driving wheels as needed.		* Order the robot to turn, e.g. 180 degrees, compare with reality and adjust the distance between driving wheels as needed.

			In Python, there are start options to test the odometry calibration. To drive 1m forward:

			python3 mqtt-client.py -m

			and for the turn calibration (turn 180 degrees):

			python3 mqtt-client.py -p

Jca: /* Calibrate odometry */

2026-03-12T13:15:01Z

Calibrate odometry

← Older revision		Revision as of 15:15, 12 March 2026
Line 160:		Line 160:
	* Distance between wheels (around 23cm)		* Distance between wheels (around 23cm)

	==== ~~set~~ configuration ====		==== Set configuration ====
	These values are sent to the ''teensy_firmware_8'' as ''confw rl rr gear TPR wb'', e.g.:		These values are sent to the ''teensy_firmware_8'' as ''confw rl rr gear TPR wb'', e.g.:
	confw 0.0750 0.0750 19 92 0.234		confw 0.0750 0.0750 19 92 0.234
Line 171:		Line 171:
	Note: Some of the motors have a different encoder with 68 ticks per revolution (TPR), rather than the 92 in this example.		Note: Some of the motors have a different encoder with 68 ticks per revolution (TPR), rather than the 92 in this example.

	==== ~~get~~ configuration ====		==== Get configuration ====

	The configuration values can be queried with a ''configi'' command, which returns, e.g.:		The configuration values can be queried with a ''configi'' command, which returns, e.g.:
Line 180:		Line 180:
	The last ''0.0020'' is the system sample time, here 2ms. The last ''0'' is for motortest only.		The last ''0.0020'' is the system sample time, here 2ms. The last ''0'' is for motortest only.

	==== ~~testing~~ calibration ====		==== Testing calibration ====

	The simple method is:		The simple method is:
	* Order the robot to drive 1m, check how long the robot thinks it has driven, e.g. 1.02m, then compare with reality, and adjust the wheel radius as relevant.		* Order the robot to drive 1m, check how long the robot thinks it has driven, e.g. 1.02m, then compare with reality, and adjust the wheel radius as relevant.
	* Order the robot to turn, e.g. 180 degrees, compare with reality and adjust the distance between driving wheels as needed.		* Order the robot to turn, e.g. 180 degrees, compare with reality and adjust the distance between driving wheels as needed.

Jca: /* Calibrate odometry */

2026-03-12T13:14:44Z

Calibrate odometry

← Older revision		Revision as of 15:14, 12 March 2026
Line 160:		Line 160:
	* Distance between wheels (around 23cm)		* Distance between wheels (around 23cm)

			==== set configuration ====
	These values are sent to the ''teensy_firmware_8'' as ''confw rl rr gear TPR wb'', e.g.:		These values are sent to the ''teensy_firmware_8'' as ''confw rl rr gear TPR wb'', e.g.:
	confw 0.0750 0.0750 19 92 0.234		confw 0.0750 0.0750 19 92 0.234
Line 171:		Line 171:
	Note: Some of the motors have a different encoder with 68 ticks per revolution (TPR), rather than the 92 in this example.		Note: Some of the motors have a different encoder with 68 ticks per revolution (TPR), rather than the 92 in this example.

			==== get configuration ====

	The values can be queried with a ''configi'' command, which returns, e.g.:		The configuration values can be queried with a ''configi'' command, which returns, e.g.:
	conf 0.0750 0.0750 19.000 92 0.2340 0.0020 0		conf 0.0750 0.0750 19.000 92 0.2340 0.0020 0
	or, if subscribed from MQTT		or, if subscribed from MQTT
Line 178:		Line 179:
	message: conf 0.0750 0.0750 19.000 92 0.2340 0.0020 0		message: conf 0.0750 0.0750 19.000 92 0.2340 0.0020 0
	The last ''0.0020'' is the system sample time, here 2ms. The last ''0'' is for motortest only.		The last ''0.0020'' is the system sample time, here 2ms. The last ''0'' is for motortest only.

			==== testing calibration ====

	The simple method is:		The simple method is:
	* Order the robot to drive 1m, check how long the robot thinks it has driven, e.g. 1.02m, then compare with reality, and adjust the wheel radius as relevant.		* Order the robot to drive 1m, check how long the robot thinks it has driven, e.g. 1.02m, then compare with reality, and adjust the wheel radius as relevant.
	* Order the robot to turn, e.g. 180 degrees, compare with reality and adjust the distance between driving wheels as needed.		* Order the robot to turn, e.g. 180 degrees, compare with reality and adjust the distance between driving wheels as needed.

Jca: /* Calibrate odometry */

2026-03-12T13:13:40Z

Calibrate odometry

← Older revision		Revision as of 15:13, 12 March 2026
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	message: "confw 0.0750 0.0750 19 92 0.234"		message: "confw 0.0750 0.0750 19 92 0.234"

	This message is typicalle send from the Python script '''spose.py''' around line 92:		This message is typicalle send from the Python script ''spose.py'' around line 92:
	service.send("robobot/cmd/T0", "confw 0.074 0.074 19 92 0.23")		service.send("robobot/cmd/T0", "confw 0.074 0.074 19 92 0.23")
	Note: Some of the motors have a different encoder with 68 ticks per revolution (TPR), rather than the 92 in this example.		Note: Some of the motors have a different encoder with 68 ticks per revolution (TPR), rather than the 92 in this example.

Jca: /* Calibrate odometry */

2026-03-12T13:13:26Z

Calibrate odometry

← Older revision		Revision as of 15:13, 12 March 2026
Line 157:		Line 157:
	* Wheel radius (around 7.5cm)		* Wheel radius (around 7.5cm)
	* Gear ratio (19:1)		* Gear ratio (19:1)
	* Encoder ticks per revolution (92)		* Encoder ticks per revolution (92 or 68)
	* Distance between wheels (around 23cm)		* Distance between wheels (around 23cm)

Line 168:		Line 168:

	This message is typicalle send from the Python script '''spose.py''' around line 92:		This message is typicalle send from the Python script '''spose.py''' around line 92:
	service.send("robobot/cmd/T0","confw 0.074 0.074 19 92 0.23")		service.send("robobot/cmd/T0", "confw 0.074 0.074 19 92 0.23")
	Note ~~that some~~ of the motors have a different encoder with 68 ticks per revolution (TPR), rather than the 92 in this example.		Note: Some of the motors have a different encoder with 68 ticks per revolution (TPR), rather than the 92 in this example.

Jca: /* Calibrate odometry */

2026-03-12T13:12:05Z

Calibrate odometry

← Older revision		Revision as of 15:12, 12 March 2026
Line 166:		Line 166:
	topic: robobot/cmd/T0		topic: robobot/cmd/T0
	message: "confw 0.0750 0.0750 19 92 0.234"		message: "confw 0.0750 0.0750 19 92 0.234"

			This message is typicalle send from the Python script '''spose.py''' around line 92:
			service.send("robobot/cmd/T0","confw 0.074 0.074 19 92 0.23")
			Note that some of the motors have a different encoder with 68 ticks per revolution (TPR), rather than the 92 in this example.


	The values can be queried with a ''configi'' command, which returns, e.g.:		The values can be queried with a ''configi'' command, which returns, e.g.:

Jca: /* Calibrate odometry */

2026-03-12T13:07:43Z

Calibrate odometry

← Older revision		Revision as of 15:07, 12 March 2026
Line 159:		Line 159:
	* Encoder ticks per revolution (92)		* Encoder ticks per revolution (92)
	* Distance between wheels (around 23cm)		* Distance between wheels (around 23cm)

	~~<-- In the 2026 version, odometry is calculated by the teensy_interface,~~
	~~So these values need to go into the file~~
	~~svn/robobot/teensy_interface/build/robot.ini~~
	~~in the [mixer] section.~~
	Remember that this file is overwritten when the teensy_interface stops (e.g. at reboot). The overwriting can be avoided by changing 'saveconfig = true' to 'saveconfig = false' in the [ini] section. -->

Jca: /* Calibrate odometry */

2026-03-12T13:07:35Z

Calibrate odometry

← Older revision		Revision as of 15:07, 12 March 2026
Line 160:		Line 160:
	* Distance between wheels (around 23cm)		* Distance between wheels (around 23cm)

	<--! In the 2026 version, odometry is calculated by the teensy_interface,		<-- In the 2026 version, odometry is calculated by the teensy_interface,
	So these values need to go into the file		So these values need to go into the file
	svn/robobot/teensy_interface/build/robot.ini		svn/robobot/teensy_interface/build/robot.ini