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Robotics-DAI-FMFI-UK / kocur-mikes

software for the robot Kocúr Mikeš
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different engines #3

Closed pavelpetrovic closed 7 years ago

pavelpetrovic commented 7 years ago

try to measure differences in engines, try to analyze the reasons.

pavelpetrovic commented 7 years ago

Different speeds of the wheels were analysed. I have switched the cables so that the same PWM signal moves both wheels in the same direction (it was reversed). Clearly, either Arduino or HB25 is not symmetrical wrt. 90 degrees (zero position) - it produces different voltages in + and - directions. This resolved the issue somewhat, but it seems the HB25 and the mechanics are different versions, so there is almost 10% difference applied through 2 coefficients in the code.