Auto-mode is designed to keep the marble continuously in motion. Otherwise, more work is required by the servos to overcome friction to roll the marble into specific positions. The NI Smart Camera provides feedback to the PID loop. When the marble has been in a specific position for a long period, the movement by the servo is increased through a gain multiplier in the PID loop to get the marble rolling again.
I can only guess there was noise in the ball position measurement because of the limited camera resolution? Its more confusing when I can see the servos are really smooth judging by the manual joystick control, so the cheap servos aren't an issue.
Did you use a tuned PID algorithm for the servo movement/camera feedback?
Auto-mode is designed to keep the marble continuously in motion. Otherwise, more work is required by the servos to overcome friction to roll the marble into specific positions. The NI Smart Camera provides feedback to the PID loop. When the marble has been in a specific position for a long period, the movement by the servo is increased through a gain multiplier in the PID loop to get the marble rolling again.
TheNIUKAETeam 2 years ago
Why does the system vibrate in auto-mode so much?
I can only guess there was noise in the ball position measurement because of the limited camera resolution? Its more confusing when I can see the servos are really smooth judging by the manual joystick control, so the cheap servos aren't an issue.
Did you use a tuned PID algorithm for the servo movement/camera feedback?
diysegway 2 years ago
I forgot to mention- great use of labview!!
diysegway 2 years ago
It's amazing!
porkchop35 2 years ago