Chassis = engine block + gearbox
Almost three years later, I resumed work on my robot . Why abandoned? Yes, that time was not, I could not do as I want. I'm an idealist, I need everything to be either perfect or not at all. Since the ideal did not work, it was nothing. Immediately, I, supported by my own AVR training course , decided to take up the unit seriously.
So, what we have.
To start the chassis. A hefty thirty centimeter crawler trough. In it so far only the gear unit and motors with tachometers.
For each gearbox I, on the arm of a light-shaped designer, hung speed sensors. It is an infrared LED and photodiode . Each gear has a hole through which the beam from the LED can penetrate the photo sensor. This is done for two purposes:
Accounting for the distance traveled . Since the caterpillars do not slip much, it gives us the opportunity to estimate the relative movement. So to drive back to the floor of the case is no longer a problem.
Feedback on speed . The fact is that if the engines work unevenly, the chassis will go awry. To eliminate this, I made feedback. That is, the controller will count every 10 turns and if which of the engines lags behind, then it will be adjusted so that the trough goes smoothly. The lag may be due to different friction, different engine parameters, and there may be a lot of things.
Original article with technical details for those who want to repeat + additional sensor foty
So, what we have.
To start the chassis. A hefty thirty centimeter crawler trough. In it so far only the gear unit and motors with tachometers.
For each gearbox I, on the arm of a light-shaped designer, hung speed sensors. It is an infrared LED and photodiode . Each gear has a hole through which the beam from the LED can penetrate the photo sensor. This is done for two purposes:
Accounting for the distance traveled . Since the caterpillars do not slip much, it gives us the opportunity to estimate the relative movement. So to drive back to the floor of the case is no longer a problem.
Feedback on speed . The fact is that if the engines work unevenly, the chassis will go awry. To eliminate this, I made feedback. That is, the controller will count every 10 turns and if which of the engines lags behind, then it will be adjusted so that the trough goes smoothly. The lag may be due to different friction, different engine parameters, and there may be a lot of things.
Original article with technical details for those who want to repeat + additional sensor foty
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Source: https://habr.com/ru/post/38067/
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