Hi everyone,
I've just discovered this site (really cool project!) and have a question (probably already answered) about the MonsterBorg.
I'm not seeing any motor encoders - are there any? if not, how is speed controlled with the 4 motors?
Cheers!
Self-driving robot racing with the Raspberry Pi
Hi,
No encoder on monsterborg
Power of each motor came from camera frames analysis and track recognition.
Dinotoo
The motors are driven by a PWM controlled output, which enables the MonsterBorgs to control the voltage to the left and right side motors.
For the racing we calibrate each robot so that they move at the same speed when 100% power is requested for both motors. This is achieved by adjusting the maximum allowed PWM level on each robot.
As Dinotoo says above it is also possible for the robots to determine how fast they are going by seeing how much objects have moved in the camera image. We use this technique with the coloured lanes on our track to correct for the robots drifting left or right when they are supposed to be driving straight :)
Thanks for the response.
So there are 4 variables (0-100) one for each motors power level or 2 variables for the left and right side?
And what about handling reverse?
There is a left and a right power level for each motor between
1.0for 100% forwards to-1.0for 100% reverse, with0.0meaning stopped.Slower speeds can be given as fractional values, for example:
0.9is 90% forward0.33is 33% forward-0.75is 75% reverseThe motors are controlled by one of our ThunderBorg motor controllers. The left pair of motors are wired in parallel to one of the outputs, and the right motors to the other one.
2 for 4 motors with the formulapi code but maybe 4 for 4 with custom code ???
Motors can go reverse when stucked or flipped for example
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