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| This is some suggestions for changed settings for Robobot.
| | Moved to [[regbot settings]] |
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| == Robot configuration==
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| Metric setup
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| The distance between driving wheels are different from a Regbot.
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| [[File:robobot_robot_settings.png]] | |
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| == Control issues ==
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| Some examples of control settings.
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| ===Edge control===
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| For higher speed in the range 0.7-0.9 m/s the following control settings could be used.
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| [[File:line_edge_control.png]]
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| The control uses a Lag-controller to decrease the static gain by a factor 5 (a pole with a time constant of 1 sec and a zero with a time constant of 0.2 seconds). This means that the high frequency gain is Kp*0.2 = 0.06.
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| 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.
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| A test script to could be:
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| thread=1
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| vel=0.01, acc=5.0, log=20.0: time=0.2
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| vel=0.8, edger=0.7, white=1: dist=3.0, xw=20, log=0
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| label=3, event=3: xw<15
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| edger=-0.7, white=1: dist=1.5, xw=20, log=0
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| label=4, event=3: xw<15
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| edger=0.7, white=1: dist=1.5, xw=20, log=0
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| goto=3: count=1
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| vel=0.0: time=0.5
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| The mission follows right side of line,
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| * first in a left curve (1mØ) then
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| * a crossing line,
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| * wait for line to disappear,
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| * a right curve (1mØ),
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| * a crossing white line
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| * ...
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| The difference between a left and a right curve is the "edger=0.7" and "edger=-0.7", this makes the robot follow the curve with an offset of 0.7cm 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.
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