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Topics - valar

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General Discussion / Straights without walls
« on: March 05, 2013, 12:57:39 PM »
Well I have already build my first micromouse and after writing some 'easy' corrections I have a big problem now. When there's no wall on the left or right side for a longer distance my mouse crashes very often. Firstly I thought that it can be handled by front sensors. But it wasn't good solution  becouse:
  • Front sensors must by aimed a lot outside from the front wall (so it's hard to corectly detect wall in front of mouse)
  • Error must be enough big to react (which isn't good for straight of course)
Secondly I thought that we can handled it tradicionaly (like with walls) by diagonal sensors. The problem is fact that signal from post is very short and unstable and with higher speed it didn't work well.
And right now I have some idea but I don't realy know how to do that :) Well why just measure time difference between detecting posts  on left and right side? It should give us good information about angular error. The question is how to separate posts from walls ? Second qustions is about offset error (well, it's isn't so dangerouse as heading error but still it's should be posible to correct it).  Is there any better solution for correcting that ? Of course crital in this situation is turning. But it's imposible to detect idealy wall-to no-wall moment (there can be some heading or offset error) and we should be prepared for that.

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