Regnot settings for Robobot
From Rsewiki
This is some suggestions for changed settings for Robobot.
Robot configuration
Metric setup
Control issues
For higher speed in the range 0.7-0.9 m/s the following control settings could be used.
A script to test could be:
thread=1 vel=0.01, acc=5.0, log=20.0: time=0.2 vel=0.8, edger=0.7, white=1: dist=3.0, xw=20, log=0 label=3, event=3: xw<15 edger=-0.7, white=1: dist=1.5, xw=20, log=0 label=4, event=3: xw<15 edger=0.7, white=1: dist=1.5, xw=20, log=0 goto=3: count=1 vel=0.0: time=0.5
The mission follows right side of line,
- first in a left curve (1mØ) then
- a crossing line,
- wait for line to disappear,
- a right curve (1mØ),
- a crossing white line
- ...
The difference between a left and a right curve is the "edger=0.7" and "edger=-0.7", this makes the robot follow the offset by 0.7cm towards the center of the curve (more left in a left curve).