It then could pass back a x,y destination to the ardiuno as an attractive field and possibly modify the arduino's own x,y location if there is reason to believe it is off.
#Robotc servo android
Now I have ported the software to the Arduino, but this time around I am adding a android phone to the mix that will receive the sensor data and "assumed" x,y position info from the arduino and attempt to reconcile it against it's own mapping and localization. Here is a video i took of the process a bit before the final version, but all in all it shows how it was intended to work. The retriever used the x,y co-ordinates sent by the seeker to get the ball then return it to 0,0 (home). The second robot was not allowed an IR sensor but had to have a way to retrieve the IR beacon (spherical). It had to find multiple IR beacons around the course and communicate the location back to the second one. Basically I had to use 2 nxt bots in an obstacle coures the first robot was a seeker and was allowed to have an IR sensor. For the application it worked surprisingly well. There was some error on the nxt's (there were 2 of them) when there was wheel slip (generally it only happend when the side clipped an obstacle. I am thinking i will start there and for the next project plan ahead for the gearmotor / encoder route. I am leaning towards the parallax encoders and am curious if anyone here has tried them out and has any feedback about their error rate. Is it likely accurate then that to go the gearmotor route I would be looking at getting the motors, doing chassis modification (or replacement), would need some form of DC motor control board and possibly another batter pack depending on consumption and the input range on what ever is regulating the voltage to the gearmotors? Am I understanding correctly that I need to provide for 2.2 X 2 or 4.4A regulated 6V? (although the motors would run ok on 5V) Also with regards to the motor controller I would think I would need to have one to control the motor RPM? They are slightly longer then my current servos so I think they will require some amount of modification to the BOE bot chassis, in addition if I am understanding correctly it seems i could not run them off the regulated 5v provided by my boe bot arduino shield because it provides up to 1A and each gearmotor is listed as using 40ma running and 2.2A stall. The other way I am thinking of going is with new gearmotors such as these: But I do believe it will be the most economical when considering time and other factors. I have some reservations though that it will not be the most accurate system. I have been doing a bit more research and i think i have narrowed my choices down to 2:īecause my project is based on the BOE-BOT the easiest choice would appear to be: the digital encoder kit made by parallax Thank you all again for taking some time to respond. I am open to completely new approaches but would like to work with what I have if possible. Are there any clever libraries already in existence? But I have a feeling this will become in-accurate rather quickly.
#Robotc servo full
At this point my best guess is to find the amount of time it takes the servo to rotate once at full speed and then do the math. It was also possible to rotate the continuous servos a particular amount of degreesĬan anyone suggest a way to do this? I have not been turning up much in my searching, but i might not be looking for the right thing so any terms you can think of that might be helpful to my searching would be appreciated as well. It seems that the NXT servos allowed for this as all api's for the NXT servos provided some form of getTachoCount() method that would return the current count of the servo.
#Robotc servo how to
I am very close to getting the Arduino based robot to do the same but I cannot figure out how to accurately count the servo rotations. In the NXT/Lejos project I was able to map the robot in 2d space by using the compass and counting the rotation of both servos in a differential setup. I am using a Parallax BOE shield bot and Parallax continuous rotation servos. I am trying currently trying to covert a project I did with NXT using Lejos to Arduino.