Regnot settings for Robobot

This is some suggestions for changed settings for Robobot.

Robot configuration

Metric setup

The distance between driving wheels are different from a Regbot.

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.

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.

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=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 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.