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dreamster / dreamster-board

Specialized Arduino board which is the heart of the Dreamster Robot.
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Add some form of encoder/odometry #25

Open garyservin opened 9 years ago

garyservin commented 9 years ago

This is not strictily related to the board but...

If we want to use ROS with the robot, it's mandatory that we have some sort of odometry for the wheels.

One option is to use accelerometers and integrate (x2) the readings to obtain position, but I think that is not such a good Idea

We can use a simple magnet with a Hall efect sensor.

We can also add a gyro in order to help with the error when the robot is turning (e.g. like in the turtlebot).

tulku commented 9 years ago

We need odometry and would add the gyro also. Good odometry is necessary and getting it just with encoders is very expensive.

Lucas On Apr 30, 2015 8:15 AM, "Gary Servin" notifications@github.com wrote:

This is not strictily related to the board but...

If we want to use ROS with the robot, it's mandatory that we have some sort of odometry for the wheels.

One option is to use accelerometers and integrate (x2) the readings to obtain position, but I think that is not such a good Idea

We can use a simple magnet https://www.pololu.com/product/2599 with a Hall efect sensor.

We can also add a gyro in order to help with the error when the robot is turning (e.g. like in the turtlebot).

— Reply to this email directly or view it on GitHub https://github.com/dreamster/dreamster-board/issues/25.