MarkusXL
Second Officer
United States
Offline
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MarkusXL Posted at 7-28 13:00
YEah I like it. The cones give the Markers some elevation, and would look kinda neat.
My next project - program a variable Turning Factor into my algorithm. Note that it does not have to be a true sine wave driving patterns. A "rounded triangle wave" is quite close enough in most real world applications.
Quick update - my wheel program takes a variable steering input, Vo, beautifully.
It is quite mesmerizing to see the S1 execute variable turns, that is, turns that get tighter as the S1 moves along, ending with a couple spins on its center axis.
It is quite remarkable to look at, because during the continuous variation of turning radius, all the wheels keep exactly the right RPM, so the wheels are never fighting each other (all too easy to do unless you are doing purely linear movement).
Now in the back of my mind, is to set up a PID controller on Vo. But, what would be the control or reference for where to turn the S1? Not sure... Did the blue tape line already... Btw that was a great lesson on how to do PID control. If this idea links up with using Vision Markers as navigation aids... could make for an interesting slalom runner... |
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