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Robotics-DAI-FMFI-UK / kocur-mikes

software for the robot Kocúr Mikeš
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azimuth navigation #5

Open pavelpetrovic opened 7 years ago

pavelpetrovic commented 7 years ago

verify the movement based on compass and specified azimuth navigation

pavelpetrovic commented 7 years ago

from information on the net, it seems this compass behaves differently between 0-240 and 240-360, will need to fix this in code first before continuing. also I found code for determining x,y offsets (sort-of compass calibration), so we will provide calibration too.

pavelpetrovic commented 7 years ago

I have changed the MPU library for another one, which does not use the special firmware for MPU6050, but for our purposes is sufficient. Most importantly, this one works quite ok. Now the azimuth navigation seems to be working as expected. At higher speeds, some constants will have to be updated. Currently using motor speed 12, which is slow, but suitable for closed-space demos. Even speed 9 is fine (lower than that is too slow).