David Grayson
David's dead reckoning code for the LVBots competition on March 6th. Uses the mbed LPC1768, DRV8835, QTR-3RC, and two DC motors with encoders.
Dependencies: PololuEncoder Pacer mbed GeneralDebouncer
History
Changes from before the contest, I think.
2019-08-13, by DavidEGrayson [Tue, 13 Aug 2019 21:21:17 +0000] rev 48
Changes from before the contest, I think.
Got some awesome results using carefully calculated scale factors for the gyro!
2019-07-31, by DavidEGrayson [Wed, 31 Jul 2019 07:14:09 +0000] rev 47
Got some awesome results using carefully calculated scale factors for the gyro!
Some minor changes. The overall dead reckoning is working now, but I don't think I did much to fix it.
2019-07-28, by DavidEGrayson [Sun, 28 Jul 2019 22:20:12 +0000] rev 46
Some minor changes. The overall dead reckoning is working now, but I don't think I did much to fix it.
Calibrate the line sensors. Add testLineSensorsAndCalibrate. Unfortunately, testLineFollowing is not working though.
2019-07-28, by DavidEGrayson [Sun, 28 Jul 2019 01:52:34 +0000] rev 45
Calibrate the line sensors. Add testLineSensorsAndCalibrate. Unfortunately, testLineFollowing is not working though.
Get testDriveHome to work: the robot got to within about 6 inches of where it was in one test I did.
2019-07-28, by DavidEGrayson [Sun, 28 Jul 2019 01:22:01 +0000] rev 44
Get testDriveHome to work: the robot got to within about 6 inches of where it was in one test I did.
Changed reckoner to use readings from turnSensor (Gyro) to get its direction vector instead of encoder ticks.
2019-07-27, by DavidEGrayson [Sat, 27 Jul 2019 22:52:19 +0000] rev 43
Changed reckoner to use readings from turnSensor (Gyro) to get its direction vector instead of encoder ticks.
Calibrate L3G using a buffer of 1000 zero-rate readings. Measured a drift of -1.850 degrees over 3 minutes (-0.01 degree per second).
2019-07-27, by DavidEGrayson [Sat, 27 Jul 2019 20:58:46 +0000] rev 42
Calibrate L3G using a buffer of 1000 zero-rate readings. Measured a drift of -1.850 degrees over 3 minutes (-0.01 degree per second).
Gyro: Add a hacky offset of +6.5 in TurnSensor.cpp. The turn sensor drifts much more slowly now, like maybe 1 degree per minute.
2019-07-25, by DavidEGrayson [Thu, 25 Jul 2019 03:20:41 +0000] rev 41
Gyro: Add a hacky offset of +6.5 in TurnSensor.cpp. The turn sensor drifts much more slowly now, like maybe 1 degree per minute.
Add TurnSensor and L3G code but I am not happy with how the Gyro drifts a degree every few seconds or so.
2019-07-25, by DavidEGrayson [Thu, 25 Jul 2019 02:53:34 +0000] rev 40
Add TurnSensor and L3G code but I am not happy with how the Gyro drifts a degree every few seconds or so.
New motors! 100:1 HP.
2019-07-25, by DavidEGrayson [Thu, 25 Jul 2019 02:11:25 +0000] rev 39
New motors! 100:1 HP.