Umfrage Odometrie

[redtop]

Hi Boliven,

it is easier to understand your english Text then the Google translation.

The Problem ist that the Mower ist not drive straight a line it drives allway i Curve, like that one http://www.ardumower.de/index.php/de/forum/antrieb/1027-geradeausfahren#9996
and i think the odometry can correct it.

The PID part a have understood, i think, but that have no part of driving not straight a line.

Stefan

 

[redtop]

I have just seen that you have make changes in the code, some day ago and try it first.

 

[bernard]

Ok.
Yes this curve show a big problem :woohoo: .
Warning this problem can also occur if one wheel is not tight enough on its axis.The motor turn but the wheeel not at the same speed so the Odo is OK but the straight line is KO.
Also possible issue into the Motoreducer

To perfectly test the PID and ODO simply put the wheels in the air.

In PFOD

Manuel
Forward (Now the ODO and PID work)
Back
Setting
Odometry
and look at the ticks count during 1 minute.
Normaly if one Wheel turn faster than the other the Pid brake it or accel the other.
The two ticks count need always to be the same, even when trying to brake or block a wheel.

Hope it's help.

 

[redtop]

Hi,

the wheel is tight enough and the odometry shows a difference. But that Weekend we had haved a Chrismas Marked in front of our door aand there was so many "Glühwein"