Regnot settings for Robobot
From Rsewiki
This is some suggestions for changed settings for Robobot.
Robot configuration
Metric setup
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.
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).
