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<p>Carl,</p>
<p>Excellent! <br>
</p>
<p>The robot seems to rotate in place really well. And with the IMU
for direction, the wheel slippage is greatly minimized. Good
demo. You have to have a lot of stuff working to make that
happen.<br>
</p>
<p>I never had a lazy susan for such precise testing. But back when
I had a station wagon I used to put jBot in the back, turn it on
set up to point North, and watch it rotate while we drove around,
just for grins. Good stuff.<br>
</p>
<p>onward!</p>
<p>dpa</p>
<p><br>
</p>
<div class="moz-cite-prefix">On 3/24/21 8:13 AM, Carl Ott via
DPRGlist wrote:<br>
</div>
<blockquote type="cite"
cite="mid:CA+XqQZQmGBCtPae2h9bv05SZVZnLQA42U4VONbhPDrM7n0N5AQ@mail.gmail.com">
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<div dir="ltr">
<div>As discussed last night.</div>
<div><br>
</div>
<div>Karim was right - it was easy.</div>
<div><br>
</div>
<div>Plus - we now have <b><i>additional <span
style="background-color:rgb(255,255,0)">proof that <u><font
color="#ff0000">algebra doesn't work on the weekends
when the weather is nice outside</font></u></span>.</i></b></div>
<div><br>
</div>
<div>instead of cancelling out to zero, this term somehow wound
up getting doubled</div>
<div><img src="cid:part1.A1331112.9BA27BD1@smu.edu"
alt="image.png" class="" width="542" height="178"><br>
</div>
<div><br>
</div>
<div>the ugly logic below still wants to be simplified &
cleaned up. But at least it now works correctly:</div>
<div><br>
</div>
<div>the method below calculates <b>fbTerm</b> for this summing
node</div>
<div><br>
</div>
<div><b>setpoint - fbTerm = loop error </b></div>
<div><br>
</div>
<div>where <b>setpoint </b>has range [ 0 .. 360 ]</div>
<div>
<div>where<b> IMU outputs</b> [ 0 .. 360 ]</div>
</div>
<div>and where <b>error </b>has range [ -180 .. +180 ], to
give the shortest rotation from current to setpoint</div>
<div><br>
</div>
<div><img src="cid:part2.503810CA.FE6ADEA7@smu.edu"
alt="image.png" class="" width="542" height="378"><br>
</div>
<div><br>
</div>
<div>Anyhow...</div>
<div>Now onto cleanup, then to actually tuning the loop, then
finally to more interesting behaviors...</div>
<div><br>
</div>
<div>Carl</div>
<div><br>
</div>
</div>
<br>
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