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Linda not able to deal with a 10% slope #27

Closed gestom closed 10 years ago

gestom commented 10 years ago

A ~4 meter long ramp with ~0.4m elevation has been installed in our place so Linda can access the other part of the offices. However, when we have tried to drive her up by joystick, her speed is gradually decreasing and she stops at ~1.2m of the ramp. Moreover, she cannot turn while moving forwards. According to the SCITOS-G5 flyer here: http://metralabs.com/images/ML_Downloads/Flyer_SCITOS_G5_Features_2.pdf, the robot should be able to deal with a 10% slope.

@chmartin21 : Any solution for that ?

chmartin21 commented 10 years ago

Do you have tried to increase the force? The force is a property of the "MainControlUnit" of the robot. You can start miracenter, increase the force using the PropertyView and then try it again. The default value is 80. But you can increase it up to 255. I would suggest to try something around 120 or 150. If you found the right value, you can put it in your configuration file using the parameter tag.

gestom commented 10 years ago

Works like a charm, thanks for advice.

hawesie commented 10 years ago

@chmartin21 should we all increase the force as a default, even if we're not tackling slopes?

cdondrup commented 10 years ago

Might also help to get rid of the stuck-in-carpet error.

hawesie commented 10 years ago

That's what I was thinking ;)

cdondrup commented 10 years ago

If I am not mistaken, we set the force parameter to 110 which enabled Linda to go up our 10% slope which is also covered in carpet. So it might be a good solution for you as well. If @chmartin21 sees no problem in increasing the force value for continuous usage, we can just open a pull request to alter the SCITOS config file.

I will reopen the issue until we have decided on opening a pull request or not.

chmartin21 commented 10 years ago

@all: Increasing the force to 110 in your SCITOS configuration file should be unproblematic.

marc-hanheide commented 10 years ago

has been tested and works