neicnordic / heirsofdoom Goto Github PK

@nicjar commented on Wed Jan 25 2017

• Goal: determine constant MIN_POWER, being the lowest motor power that will still cause the wheels to move.
• Motivation: Trying to turn or move very slowly does not work, and is an issue when iterating toward a desired direction/position.
• Method:
  ** Drive forward or turn while decreasing power. Observe cutoff where movement stops.
  ** Enter values straight into code.

@nicjar commented on Wed Jan 25 2017

@nicjar commented on Wed Jan 25 2017

@nicjar commented on Wed Jan 25 2017

@nicjar commented on Wed Jan 25 2017

@nicjar commented on Wed Jan 25 2017

Calibrate compass:

• Goal: make function direction() that returns the direction of the robot relative to the arena:
  ** Unit: degrees (0-360)
  ** counterclockwise (like in maths).
  ** 0 is parallel with X axis direction along long wall toward windows .
  ** 90 is parallel with Y axis direction along short wall toward main big room
• Method:
  ** Spin, plot compass values.
  ** Enter mean range (minmax) values into code.
  ** Find directions of the walls:
  *** Tell robot to drive straight in compass direction X. Adjust X until parallel to long wall.
  *** Make sure Y is right angles to X.
  *** Enter direction of walls into code.

@nicjar commented on Wed Jan 25 2017

• Goal: determine appropriate ways to accelerate predictably.
  ** Ramp up power if needed, otherwise just push the pedal to the metal.