Regnot settings for Robobot

Revision as of 13:30, 12 March 2017

This is some suggestions for changed settings for Robobot.

Robot configuration

Metric setup

Control issues

For higher speed in the range 0.7-0.9 m/s the following control settings could be used.

A script to test could be:

thread=1
   vel=0.01, acc=5.0, log=20.0: time=0.2
   vel=0.8, edger=0.7, white=1: dist=3.0, xw=20, log=0
   label=3, event=3: xw<15
   edger=-0.7, white=1: dist=1.5, xw=20, log=0
   label=4, event=3: xw<15
   edger=0.7, white=1: dist=1.5, xw=20, log=0
   goto=3: count=1
   vel=0.0: time=0.5

The mission follows right side of line,

• first in a left curve (1mØ) then
• a crossing line,
• wait for line to disappear,
• a right curve (1mØ),
• a crossing white line
• ...

The difference between a left and a right curve is the "edger=0.7" and "edger=-0.7", this makes the robot follow the offset by 0.7cm towards the center of the curve (more left in a left curve).