Erst einmal ein herzliches Hallo an alle!
Habe aktuelles Ardumower Kit GPS/LR (Sunray).
Alles montiert, gelötet etc.
Jetzt wollte ich die Odometrie testen:
Serielle Konsole zeigt:
CON:AT+E
motor test - 10 revolutions
t=0 ticks Left=0 Right=0 current Left=0.01 Right=0.01
t=1 ticks Left=184 Right=178 current Left=0.07 Right=0.08
t=2 ticks Left=373 Right=362 current Left=0.09 Right=0.05
t=3 ticks Left=561 Right=544 current Left=0.10 Right=0.11
t=4 ticks Left=751 Right=729 current Left=0.06 Right=0.06
t=5 ticks Left=941 Right=913 current Left=0.08 Right=0.05
t=6 ticks Left=1129 Right=1096 current Left=0.09 Right=0.06
t=7 ticks Left=1319 Right=1280 current Left=0.02 Right=0.05
t=8 ticks Left=1509 Right=1465 current Left=0.05 Right=0.06
t=9 ticks Left=1697 Right=1648 current Left=0.07 Right=0.04
t=10 ticks Left=1887 Right=1832 current Left=0.10 Right=0.09
t=11 ticks Left=2077 Right=2017 current Left=0.15 Right=0.04
t=12 ticks Left=2265 Right=2200 current Left=0.09 Right=0.03
t=13 ticks Left=2455 Right=2385 current Left=0.11 Right=0.03
t=14 ticks Left=2645 Right=2569 current Left=0.04 Right=0.06
t=15 ticks Left=2833 Right=2752 current Left=0.14 Right=0.03
t=16 ticks Left=3023 Right=2937 current Left=0.04 Right=0.04
t=17 ticks Left=3213 Right=3122 current Left=0.12 Right=0.03
t=18 ticks Left=3401 Right=3305 current Left=0.09 Right=0.03
t=19 ticks Left=3591 Right=3490 current Left=0.04 Right=0.06
t=20 ticks Left=3608 Right=3505 current Left=0.00 Right=0.01
t=21 ticks Left=3608 Right=3505 current Left=0.01 Right=0.01
t=22 ticks Left=3608 Right=3505 current Left=0.01 Right=0.00
t=23 ticks Left=3608 Right=3505 current Left=0.01 Right=0.01
t=24 ticks Left=3608 Right=3505 current Left=0.01 Right=0.01
t=25 ticks Left=3608 Right=3505 current Left=0.01 Right=0.00
t=26 ticks Left=3608 Right=3505 current Left=0.01 Right=0.01
t=27 ticks Left=3608 Right=3505 current Left=0.01 Right=0.01
t=28 ticks Left=3608 Right=3505 current Left=0.01 Right=0.03
t=29 ticks Left=3608 Right=3505 current Left=0.01 Right=0.01
t=30 ticks Left=3608 Right=3505 current Left=0.01 Right=0.02
t=31 ticks Left=3608 Right=3505 current Left=0.00 Right=0.01
t=32 ticks Left=3608 Right=3505 current Left=0.01 Right=0.01
t=33 ticks Left=3608 Right=3505 current Left=0.01 Right=0.00
t=34 ticks Left=3608 Right=3505 current Left=0.00 Right=0.00
t=35 ticks Left=3608 Right=3505 current Left=0.01 Right=0.01
t=36 ticks Left=3608 Right=3505 current Left=0.02 Right=0.01
t=37 ticks Left=3608 Right=3505 current Left=0.01 Right=0.00
t=38 ticks Left=3608 Right=3505 current Left=0.01 Right=0.01
t=39 ticks Left=3608 Right=3505 current Left=0.00 Right=0.01
t=40 ticks Left=3608 Right=3505 current Left=0.01 Right=0.01
t=41 ticks Left=3608 Right=3505 current Left=0.01 Right=0.01
t=42 ticks Left=3608 Right=3505 current Left=0.01 Right=0.01
t=43 ticks Left=3608 Right=3505 current Left=0.01 Right=0.00
t=44 ticks Left=3608 Right=3505 current Left=0.00 Right=0.01
t=45 ticks Left=3608 Right=3505 current Left=0.01 Right=0.01
t=46 ticks Left=3608 Right=3505 current Left=0.00 Right=0.01
t=47 ticks Left=3608 Right=3505 current Left=0.00 Right=0.01
t=48 ticks Left=3608 Right=3505 current Left=0.00 Right=0.01
t=49 ticks Left=3608 Right=3505 current Left=0.01 Right=0.01
t=50 ticks Left=3608 Right=3505 current Left=0.00 Right=0.01
t=51 ticks Left=3608 Right=3505 current Left=0.01 Right=0.01
t=52 ticks Left=3608 Right=3505 current Left=0.01 Right=0.01
t=53 ticks Left=3608 Right=3505 current Left=0.00 Right=0.01
t=54 ticks Left=3608 Right=3505 current Left=0.02 Right=0.00
t=55 ticks Left=3608 Right=3505 current Left=0.01 Right=0.01
t=56 ticks Left=3608 Right=3505 current Left=0.01 Right=0.01
t=57 ticks Left=3608 Right=3505 current Left=0.01 Right=0.01
t=58 ticks Left=3608 Right=3505 current Left=0.01 Right=0.01
t=59 ticks Left=3608 Right=3505 current Left=0.02 Right=0.00
t=60 ticks Left=3608 Right=3505 current Left=0.01 Right=0.01
t=61 ticks Left=3608 Right=3505 current Left=0.01 Right=0.00
t=62 ticks Left=3608 Right=3505 current Left=0.01 Right=0.00
t=63 ticks Left=3608 Right=3505 current Left=0.01 Right=0.01
t=64 ticks Left=3608 Right=3505 current Left=0.01 Right=0.01
Etwa 10 Umdrehungen des rechten Motors, 10 1/4 des linken. (AT+E)
Das zeigt ja eigentlich auch die Werte. Eine Anpassung der Ticks in der config.h ändert nichts an der Differenz....
Was kann ich jetzt machen, damit das "gleich" läuft ?
Oder soll das so sein?
LG
Christian
Habe aktuelles Ardumower Kit GPS/LR (Sunray).
Alles montiert, gelötet etc.
Jetzt wollte ich die Odometrie testen:
Serielle Konsole zeigt:
CON:AT+E
motor test - 10 revolutions
t=0 ticks Left=0 Right=0 current Left=0.01 Right=0.01
t=1 ticks Left=184 Right=178 current Left=0.07 Right=0.08
t=2 ticks Left=373 Right=362 current Left=0.09 Right=0.05
t=3 ticks Left=561 Right=544 current Left=0.10 Right=0.11
t=4 ticks Left=751 Right=729 current Left=0.06 Right=0.06
t=5 ticks Left=941 Right=913 current Left=0.08 Right=0.05
t=6 ticks Left=1129 Right=1096 current Left=0.09 Right=0.06
t=7 ticks Left=1319 Right=1280 current Left=0.02 Right=0.05
t=8 ticks Left=1509 Right=1465 current Left=0.05 Right=0.06
t=9 ticks Left=1697 Right=1648 current Left=0.07 Right=0.04
t=10 ticks Left=1887 Right=1832 current Left=0.10 Right=0.09
t=11 ticks Left=2077 Right=2017 current Left=0.15 Right=0.04
t=12 ticks Left=2265 Right=2200 current Left=0.09 Right=0.03
t=13 ticks Left=2455 Right=2385 current Left=0.11 Right=0.03
t=14 ticks Left=2645 Right=2569 current Left=0.04 Right=0.06
t=15 ticks Left=2833 Right=2752 current Left=0.14 Right=0.03
t=16 ticks Left=3023 Right=2937 current Left=0.04 Right=0.04
t=17 ticks Left=3213 Right=3122 current Left=0.12 Right=0.03
t=18 ticks Left=3401 Right=3305 current Left=0.09 Right=0.03
t=19 ticks Left=3591 Right=3490 current Left=0.04 Right=0.06
t=20 ticks Left=3608 Right=3505 current Left=0.00 Right=0.01
t=21 ticks Left=3608 Right=3505 current Left=0.01 Right=0.01
t=22 ticks Left=3608 Right=3505 current Left=0.01 Right=0.00
t=23 ticks Left=3608 Right=3505 current Left=0.01 Right=0.01
t=24 ticks Left=3608 Right=3505 current Left=0.01 Right=0.01
t=25 ticks Left=3608 Right=3505 current Left=0.01 Right=0.00
t=26 ticks Left=3608 Right=3505 current Left=0.01 Right=0.01
t=27 ticks Left=3608 Right=3505 current Left=0.01 Right=0.01
t=28 ticks Left=3608 Right=3505 current Left=0.01 Right=0.03
t=29 ticks Left=3608 Right=3505 current Left=0.01 Right=0.01
t=30 ticks Left=3608 Right=3505 current Left=0.01 Right=0.02
t=31 ticks Left=3608 Right=3505 current Left=0.00 Right=0.01
t=32 ticks Left=3608 Right=3505 current Left=0.01 Right=0.01
t=33 ticks Left=3608 Right=3505 current Left=0.01 Right=0.00
t=34 ticks Left=3608 Right=3505 current Left=0.00 Right=0.00
t=35 ticks Left=3608 Right=3505 current Left=0.01 Right=0.01
t=36 ticks Left=3608 Right=3505 current Left=0.02 Right=0.01
t=37 ticks Left=3608 Right=3505 current Left=0.01 Right=0.00
t=38 ticks Left=3608 Right=3505 current Left=0.01 Right=0.01
t=39 ticks Left=3608 Right=3505 current Left=0.00 Right=0.01
t=40 ticks Left=3608 Right=3505 current Left=0.01 Right=0.01
t=41 ticks Left=3608 Right=3505 current Left=0.01 Right=0.01
t=42 ticks Left=3608 Right=3505 current Left=0.01 Right=0.01
t=43 ticks Left=3608 Right=3505 current Left=0.01 Right=0.00
t=44 ticks Left=3608 Right=3505 current Left=0.00 Right=0.01
t=45 ticks Left=3608 Right=3505 current Left=0.01 Right=0.01
t=46 ticks Left=3608 Right=3505 current Left=0.00 Right=0.01
t=47 ticks Left=3608 Right=3505 current Left=0.00 Right=0.01
t=48 ticks Left=3608 Right=3505 current Left=0.00 Right=0.01
t=49 ticks Left=3608 Right=3505 current Left=0.01 Right=0.01
t=50 ticks Left=3608 Right=3505 current Left=0.00 Right=0.01
t=51 ticks Left=3608 Right=3505 current Left=0.01 Right=0.01
t=52 ticks Left=3608 Right=3505 current Left=0.01 Right=0.01
t=53 ticks Left=3608 Right=3505 current Left=0.00 Right=0.01
t=54 ticks Left=3608 Right=3505 current Left=0.02 Right=0.00
t=55 ticks Left=3608 Right=3505 current Left=0.01 Right=0.01
t=56 ticks Left=3608 Right=3505 current Left=0.01 Right=0.01
t=57 ticks Left=3608 Right=3505 current Left=0.01 Right=0.01
t=58 ticks Left=3608 Right=3505 current Left=0.01 Right=0.01
t=59 ticks Left=3608 Right=3505 current Left=0.02 Right=0.00
t=60 ticks Left=3608 Right=3505 current Left=0.01 Right=0.01
t=61 ticks Left=3608 Right=3505 current Left=0.01 Right=0.00
t=62 ticks Left=3608 Right=3505 current Left=0.01 Right=0.00
t=63 ticks Left=3608 Right=3505 current Left=0.01 Right=0.01
t=64 ticks Left=3608 Right=3505 current Left=0.01 Right=0.01
Etwa 10 Umdrehungen des rechten Motors, 10 1/4 des linken. (AT+E)
Das zeigt ja eigentlich auch die Werte. Eine Anpassung der Ticks in der config.h ändert nichts an der Differenz....
Was kann ich jetzt machen, damit das "gleich" läuft ?
Oder soll das so sein?
LG
Christian