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[DPRG] Handy Board and Encoders
Subject: [DPRG] Handy Board and Encoders
From: RoboVac
robovac at mninter.net
Date: Sat Sep 8 10:21:53 CDT 2001
With nothing else on the robot you are unlikely to have a problem with
jitter when the robot is stopped. If you added a manipulator arm or some
sort of vibrating equipment like a feed hopper jitter is more likely to
become a problem.
William Crolley
----- Original Message -----
>From: Dan Creagan <dcreagan at bellevue.edu>
To: 'DPRG List' <dprglist at dprg.org>
Sent: Friday, September 07, 2001 5:46 PM
Subject: RE: [DPRG] Handy Board and Encoders
> After running a series of tests on my two robots, I could not duplicate
> jitter - both 'bots were using Schmitt triggers out of the pattern
> detectors.
>
> If I did accidentally count a stripe when I wasn't supposed to, it got
lost
> in all the other small errors that occur when you actually run a 'bot
across
> a surface.
>
> Stopping did not produce incorrect clicks - I simply slowed down when
> approaching the target and then threw the brakes on and it stopped dead.
>
> I could never duplicate a case where the bot would rock back after a
stop -
> with locked anti-phase it stops on bumps and everything else with good
> repeatability.
>
> So... with my simple encoding scheme I don't see the jitter or detection
> issues. I'm using a dedicated PIC for the motor controller and I'm
sampling
> without interrupts. Is there something different about the HC/Handy Board
> stuff - or the encoder hookups that people are using - that brings out
this
> issue?
>
> Dan
>
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