micromouseonline
commented
2 months ago Thank you for noticing.
Yes, there are still magic numbers.
The forst of these I normally set to be the same, numerically, as the current acceleration. It is just a small velicity that ensures that the motion continues past the finish point in case floating point rounding prevents that happening. It is a nasty hack I keep meaning to find a more tidy solution for.
The second is also a hack to ensure floating point rounding errors do not prevent the loop termination. The units are mm and independent of the encoder resolution. I figure that being within 1/8 of a mm will be close enough.
I should add an explanation.
This is a good place for these questions. We have no forum - only a UKMARS members mailing list.
If you wish you can also generate pull requests with code improvements. They are always welcome.
Nikitarc
Hello In one of your youtube video you said there is no 'magic number' in the code. But I found 2 not explained values in
profile.h.211 m_target_speed = m_sign * 5.0f; // magic number to make sure we reach zeroI understand the reason for the instruction, but how is this value determined, and what is its effect?232 if (m_state != PS_FINISHED && remaining < 0.125) {How is the value 0.125 determined? Does it depend on the resolution of the encoder, the mass of the mouse (inertia). It probably needs to be determined experimentally to have a precise stop.All this just to have a few more lines of comment!
Is there a place to ask this kind of question or more general ones about UKMARSBOT or this code (like a forum)?
Best regards