Regnot settings for Robobot: Difference between revisions

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This is some suggestions for changed settings for Robobot.
Moved to [[regbot settings]]
 
== Robot configuration==
 
Metric setup
 
The distance between driving wheels are different from a Regbot.
 
[[File:robobot_robot_settings.png]]
 
== Control issues ==
 
Some examples of control settings.
 
===Edge control===
 
For higher speed in the range 0.7-0.9 m/s the following control settings could be used.
 
[[File:line_edge_control.png]]
 
The control uses a Lag-controller to decrease the static gain by a factor 5 (a pole with a time constant of 1.5 sec and a zero with a time constant of 0.3 seconds). This means that the high frequency gain is Kp*0.3/1.5 = 0.06.
 
The gain is further scaled by the speed (from firmware version 604), so that the gain is reduced to half at 0.5m/s, but the filter times are maintained. This is probably a bad solution, as the response probably is more distance driven than time driven.
 
 
A test script to could be:
 
thread=1
    vel=0.01, acc=5.0, log=50.0: time=0.2
    vel=0.9, edger=1, white=0: dist=10.0, xb=20
    vel=0,event=7 : xb<10
    :vel< 0.1
    vel=-0.3,tr=0.1:turn=60
    vel=0.3,tr=0.1:turn=60
    vel=-0.3,tr=0.1:turn=60
    vel=0.7, edger=-1, white=0: dist=10.0, xb=20, log=0
 
The mission follows right side of line,
* in a left curve (1mØ) until crossing a line
* wait for crossing line to disappear,
* and velocity reach 0
* make a 3-point 180 degree turn
* follow the other side of line - now a right curve (until log is full
 
The difference between a left and a right curve is the "edger=1.0" and "edger=-1.0", this makes the robot follow the curve with an offset of 1cm towards the center of the curve (more left in a left curve). This gives more space for overshoot when hitting the curve - the sensor range is about +/- 2cm.

Latest revision as of 13:04, 17 March 2017

Moved to regbot settings