We have used the function lego obviously uses as “steering” -100100 by drawing a chart with sectionally defined linear functions and re-built this input to our circle follower to be a my own block imitating the steering characteristics of the lego motor block with the steering wheel (avoiding any divide-by-zero problems thereby ? We now program this concept to adapt slowly to jumps in the set values for speed or steering. Because the angle is the integral of the angular velocity ? Have fun and report if it worked out. Here you have the recipe for some easy PI-control on the relative angular velocity for steering. The amplifying factor can be increased until the motors begin to stutter, then decrease a good bit to stable operation. The result is the error, some factor to it, and put it on top of some base power level for the one motor and subtract it from the same base power level for the other.
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