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Run ActivityBot C Code in the Arlo! - Page 2 — Parallax Forums

Run ActivityBot C Code in the Arlo!

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  • NikosGNikosG Posts: 702
    edited 2014-05-23 13:28
    Dear Andy,

    Could you explain something about the “drive_setMaxSpeed(int speed)” Function on ArloDrive library please?

    On help text you write: “Modifies the default maxiumum top speed for use with encoders. The default is 128 ticks/second = 2 revolutions per second (RPS). This is the full speed that drive_distance and drive_goto use. This value can currently be reduced, but not increased. Speeds faster than 128 ticks per second are "open loop" meaning the control system does not use the encoders to correct distance/speed”

    I think that 128 is wrong. I think that “128” is right only for the ActivityBot, because ActivityBot has a 32-Position encoder, so 1 revolution=64 ticks and 2 revolutions =128
    On the other hand the Arlo robot has a 36-position encoder so 1 revolution =72 ticks and 2 revolutions= 144ticks. So the maximum speed for Arlo must be 144. Have I right?

    EDIT:
    Sorry I forgot the RPS ( revolution per second ) but again for the Arlo robot I can’t found max speed 128 ticks/sec. To be more precise, taking into account the RPM (rotations per minute) and the encoders’ positions for every motor I ended up that the max speed for EDIE robot with the new 36-position encoders is 180 ticks/sec (with the old 9-position encoder is 45 ticks/sec), for ARLO robot is 120 ticks/sec and for theActivityBot 192 ticks/sec

    attachment.php?attachmentid=108825&d=1400968749
    Nikos
  • ChrisL8ChrisL8 Posts: 129
    edited 2014-11-07 07:29
    Is there any plan to further develop the Propeller C libraries for the Arlo? Things still missing are full use of the quadrature encoders and some of the functions.
  • I tried using the code in the zip file with the arlo and HB-25. My encoder counts are increased automatically ones I give a velocity command and drive_speed can't drive the motors for values less than 100, I successfully ran the calibration code.
  • ratmcu wrote: »
    I tried using the code in the zip file with the arlo and HB-25. My encoder counts are increased automatically ones I give a velocity command and drive_speed can't drive the motors for values less than 100, I successfully ran the calibration code.

    Can you post your code?
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