Regnot settings for Robobot

This is some suggestions for changed settings for Robobot.

Robot configuration

Metric setup

The distance between driving wheels are different from a Regbot.

Control issues

Some examples of control settings.

Edge control

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

The control uses a Lag-controller to decrease the static gain by a factor 5 (a pole with a time constant of 1.5 sec and a zero with a time constant of 0.3 seconds). This means that the high frequency gain is Kp*0.3/1.5 = 0.06.

The gain is further scaled by the speed (from firmware version 604), so that the gain is reduced to half at 0.5m/s, but the filter times are maintained. This is probably a bad solution, as the response probably is more distance driven than time driven.

A test script to could be:

thread=1
   vel=0.01, acc=5.0, log=50.0: time=0.2
   vel=0.9, edger=1, white=0: dist=10.0, xb=20
   vel=0,event=7 : xb<10
   :vel< 0.1
   vel=-0.3,tr=0.1:turn=60
   vel=0.3,tr=0.1:turn=60
   vel=-0.3,tr=0.1:turn=60
   vel=0.7, edger=-1, white=0: dist=10.0, xb=20, log=0

The mission follows right side of line,

• in a left curve (1mØ) until crossing a line
• wait for crossing line to disappear,
• and velocity reach 0
• make a 3-point 180 degree turn
• follow the other side of line - now a right curve (until log is full or 10 meters or crossing another black line)

The difference between a left and a right curve is the "edger=1.0" and "edger=-1.0", this makes the robot follow the curve with an offset of 1cm towards the center of the curve (more left in a left curve). This gives more space for overshoot when hitting the curve - the sensor range is about +/- 2cm.

If the line is no longer valid, then the last curvature is maintained, i.e. there is a chance that the the line will be re-found.