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lsd-maddrive / MobileRobotControlSystem

Bachelor's thesis, June 2018
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movement system on straight line #10

Closed PonomarevDA closed 6 years ago

PonomarevDA commented 6 years ago

This module is described in robot_control.c. The main function is move_forward(uint16_t distance).

At this moment robot can only correct move forward.

  1. Passive and Active check for an obstacle is n't implemented because rangefinder.
  2. P-regulator need some test and calibration.
  3. Smooth change speed is in process. Acceleratin is work well, but i have problem in deceleration.

After I fix above problem, I will close this issue and add new comment.

KaiL4eK commented 6 years ago

Maybe, it is better to add I-part to your regulation? It can give the robot capability to stop one wheel if another one is stopped.

PonomarevDA commented 6 years ago

Of corse :) I just did it: PI-regulator function. Also i tested this function in mini-programm "pulse encoder simulation": image In theory, this system must have capability to stop one wheel if another one is stopped. Tomorrow i am going to test it.

PonomarevDA commented 6 years ago

PI-regulator works like theory.

KaiL4eK commented 6 years ago

Nice work, issue is still actual?

KaiL4eK commented 6 years ago

Commit?

PonomarevDA commented 6 years ago

I have not made any changes in this function. It is still the same PI-regulator. Commit is 96e7159d29f74d2a5c89f7a5685a7731172b23cb.