@thesilex I agree, a gyro would give me a more accurate measurement, combined with an accelerometer, it would provide it with a very good idea of how far it has travelled. In this context (the robot only has to follow the left hand wall), the encoders are just used for turning accurately. The encoders seem to be sufficient enough to tell how far it has turned (give or take a bit of wheel slip).
@MrSlinkyfish I had used gyro before on my robot to turn 90 degrees accurately. It had Sharp 3-40cm analog IR sensors to follow left or handside wall. I've implemented PD control on it. But honestly, it wasn't following the wall as accurate as your robot. It seems that you are using digital sensors for that purpose. Thus, I thought you were using the help of encoders while following a wall. How did you manage it? Are digital sensors sufficient for PID control?
@MrSlinkyfish I see.. As i saw the photo of your robot, I had thought they are digital sensors. Did you made them? or can i buy these sensors from anywhere?
Very fast, congrats! I wonder if your robot has encoders for motors?
thesilex 5 months ago
@thesilex Yes, the motors have encoders (from old computer mice) on their shaft. (Sorry I couldn't reply earlier, youtube wouldn't let me) :-(
MrSlinkyfish 2 months ago
@MrSlinkyfish I wonder if gyro can be used instead of encoder. Whats your opinion?
thesilex 2 months ago
@thesilex I agree, a gyro would give me a more accurate measurement, combined with an accelerometer, it would provide it with a very good idea of how far it has travelled. In this context (the robot only has to follow the left hand wall), the encoders are just used for turning accurately. The encoders seem to be sufficient enough to tell how far it has turned (give or take a bit of wheel slip).
MrSlinkyfish 2 months ago
@MrSlinkyfish I had used gyro before on my robot to turn 90 degrees accurately. It had Sharp 3-40cm analog IR sensors to follow left or handside wall. I've implemented PD control on it. But honestly, it wasn't following the wall as accurate as your robot. It seems that you are using digital sensors for that purpose. Thus, I thought you were using the help of encoders while following a wall. How did you manage it? Are digital sensors sufficient for PID control?
thesilex 2 months ago
@thesilex @thesilex This robot simply uses analogue measurements taken from a IR emitter and receiver pair at a 45degree angle to the left hand wall.
My blog contains graphs etc. that I made whilst testing different TX RX combinations:
stephenpithouse.blogspot.com
MrSlinkyfish 2 months ago
@MrSlinkyfish I see.. As i saw the photo of your robot, I had thought they are digital sensors. Did you made them? or can i buy these sensors from anywhere?
thesilex 2 months ago
@thesilex I custom made them, from 5mm IR emitter and IR receiver LEDs.And a bi level LED case. Any online electronics shop should have them.
MrSlinkyfish 2 months ago
@MrSlinkyfish Thank you very much. I wish you great success.
thesilex 2 months ago