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[DPRG] Handy Board and Encoders
Subject: [DPRG] Handy Board and Encoders
From: Sluggy
slugmusk at linuxlegend.com
Date: Wed Sep 5 10:06:25 CDT 2001
Dan Creagan wrote:
> Is this a real problem when it is
> properly accounted for? Generally, I wouldn't think I would be sampling if
> the motor is stopped.
A chassis can keep rolling for a time after power is removed, even with
dynamic braking. How long should one keep sampling after removing power
>from the motor? Maybe the better question would be how do you know that
the robot won't roll once power is removed from the motors? It could be
sitting on a threshold in a doorway and roll back or forward. Without
sampling the encoders at all times, you might not detect the movement.
What if you stop on an incline? It's certainly minimized with a gearhead
motor, but without a physical brake, any motor could roll some.
Sluggy!
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