|
[DPRG] Processing unit for mobile robot
Subject: [DPRG] Processing unit for mobile robot
From: Robert F. Scheer
rfscheer at speakeasy.net
Date: Mon Apr 28 21:18:29 CDT 2008
On Mon, 2008-04-28 at 18:38 -0500, Randy M. Dumse wrote:
> Robert F. Scheer said: Wednesday, April 23, 2008 3:10 PM
> > The resolution of the real-time Linux thread (yes it did
> > resolve!!)
>
> Good to know. As I said, I suspected you could probably get the
> the millisecond, but on the other hand, you have to know the
> tricks to get the flips, and if you aren't aware of them, your
> brick wall sounded like most others I've heard people running
> into.
>
> Curious then, did you reverse your effort and bring the PID back
> into the PC? Or is it outside in the AVR?
>
> Randy
>
The speed control (let's not call it PID quite yet) is back in the
steely grip of the PC. And steering control. Every 20ms cycle, the PC
issues a speed/steer setting.
The learning curve is a bit thorny for serial interfacing, threads and
real time programming in Linux if you're coming at it from no prior
experience and you aren't obscenely meticulous. There are many people
with enough experience to help though.
In my particular case, I looked back in my notes and found that I had
seen and solved the exact same uart raw mode configuration problems last
year and had completely forgotten about it. Sooo, it helps to be young,
what can I say.
Anyway, when I watch the batteries get sucked dry by the PC while it
runs the robot application with less than 1% cpu utilization and instead
of skittering across the grass, the robot lumbers ponderously, it's
getting pretty clear to me that the PC will not be on my next version.
- Robert
More information about the DPRG mailing list
|
