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[DPRG] DPRG ORC Lessons Learned
Subject: [DPRG] DPRG ORC Lessons Learned
From: John Abshier
jabshier at kc.rr.com
Date: Fri May 16 10:41:04 CDT 2008
I have not done much testing on non-flat areas. At my sister's house the robot ran straight down the road and then made the turn. As the robot went up the curb to a lawn, the robot turned 20-30 degrees to the right and then straightened out once it was on the yard. There was not room to complet the 100 foot square. It looked like the curb climb introduced a 6" to 1 foot error that would not be corrected.
The P only stearing has an oscillation of 5 to 6 centimeters. The actual caluclation is
correction in micoSeconds (command to stearing servos) = constant * atan(offset from desired line)
By the way, I finally got a price on the Honeywell gyro compensated compass (3 axis accel, 3 axis mag, and 1 axis rate gyro) -- $1400+. Not a good bargin.
Thanks again for the work done on the competion.
John Abshier
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