Subject:
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Re: Homing with the IR Tower
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Newsgroups:
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lugnet.robotics
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Date:
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Sat, 24 Jul 1999 02:32:25 GMT
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Viewed:
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1082 times
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> I had considered switching to a tracked design also, and thought of using this
> approach of having non-driven encoder wheels in contact with the ground. I
> had trouble getting the wheels to maintain solid contact so I put it on hold.
> I was trying to spring-load my wheels to hold them on the ground, but it
> sounds like you're having better luck just using old-fashioned gravity?
>
> Do you find that you are able to get fairly accurate odometry using this
> approach? I think the entire Mindstorms community could benefit from somebody
> figuring out how to track linear motion and turns reliably.
So far I have been using the tachometers mainly to find the mid-point of the
signal band, so they don't have to be too accurate. The need of accuracy will
arise when I use them for soda can detection. Let's see.
I have posted my current design on lugnet
<http://www.lugnet.com/cad/dat/ideas/?n=21>. Tell me what you think about it.
> My latest design uses a six-wheel drive setup with three wheels on each side
> which are direct-geared to spin as one. I have found this to be much easier
> to work with than the tractor treads so far, and it grips so well, I half
> expect it to climb up a wall while I'm not looking!
Funny I tried this approach before. My problem is that when the robot turns,
the tyres are kind of reluctant to go sideways. I think it depends on the kind
of tyres you use. Which kind of tyres are you using?
Cheers,
Hao-yang Wang
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Message has 1 Reply:
 | | Re: Homing with the IR Tower
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| (...) I am using the small "balloon tires" that are marked "43.2 x 28 S", and which, I believe are the ones used in all of the Mars Rover designs. These tires have nice, rounded edges that seem to make them slide sideways a bit easier than the (...) (25 years ago, 25-Jul-99, to lugnet.robotics)
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Message is in Reply To:
| | Re: Homing with the IR Tower
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| (...) I'm glad to hear that I'm not the only person who's still trying to solve Joel's challenge. It sounds like you've made some great progress! (...) Congratulations! Another Lego Fan is born! (...) Same here! <snip!> (...) I had considered (...) (25 years ago, 23-Jul-99, to lugnet.robotics)
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