Robot distance measurements
Archiver
Posts: 46,084
I was wondering can anybody think of a way to determine the distance a
wheeled robot (such as the BOE-BOT) using a standard PS/2 ball mouse
that touches the floor? I was thinking if I used the PAK PS/2 keyboard
decoder that I might be able to come up with a system. I would be using
a standard BS2 and a BOE. Any thoughts, comments, suggestions, or code
(hint hint) would be greatly appreciated. I have been using stamps for
about 4 years now so don't be afraid to throw something big at me.
Thanks in advance,
Jacob Dilles (KG4AUW)
[noparse][[/noparse]Non-text portions of this message have been removed]
wheeled robot (such as the BOE-BOT) using a standard PS/2 ball mouse
that touches the floor? I was thinking if I used the PAK PS/2 keyboard
decoder that I might be able to come up with a system. I would be using
a standard BS2 and a BOE. Any thoughts, comments, suggestions, or code
(hint hint) would be greatly appreciated. I have been using stamps for
about 4 years now so don't be afraid to throw something big at me.
Thanks in advance,
Jacob Dilles (KG4AUW)
[noparse][[/noparse]Non-text portions of this message have been removed]
Comments
Are they up-down or straight counts
Original Message
From: cholm@m... [noparse]/noparse]mailto:[url=http://forums.parallaxinc.com/group/basicstamps/post?postID=L5nFbSaEzrmWS4AqPvZ1VpdOnQP9eCJ19wO-VJgYj1hEkuO9wsp6lytjV_ROpsXsSWcbVK-FyZM]cholm@m...[/url
Sent: Saturday, September 28, 2002 12:58 PM
To: basicstamps@yahoogroups.com
Subject: RE: [noparse][[/noparse]basicstamps] Robot distance measurements
For a similar problem, of handling the needs of two simultaneous measurement
or calculation steps, I decided to have my wheel revolution counter feed a
hardware ripple counter so I didn't have to worry about missing counts, then
read the ripple counter when I have time in the program. That allowed me
to worry less about program timing.
Ripple counters are pretty easy to use, don't require much more hardware to
integrate with a stamp, and are cheap. However, they will take a couple
more of your serial ports to integrate than a simple wheel revolution
counter.
Original Message
From: David Lawrence [noparse]/noparse]mailto:[url=http://forums.parallaxinc.com/group/basicstamps/post?postID=YB44VpGg75NLK-oYParzQT-sWzlgIxM0eehH9ouwwLrTFe2aTWo8TLAIPcJv_nCDJVvXUSUoKRJLY5a2]david@r...[/url
Sent: Saturday, September 28, 2002 1:44 PM
To: basicstamps@yahoogroups.com
Subject: Re: [noparse][[/noparse]basicstamps] Robot distance measurements
Original Message
From: "J. Dilles" <theshadow2754@h...>
To: "Basic Stamps @ Yahoo" <basicstamps@yahoogroups.com>
Sent: Friday, September 27, 2002 12:07 PM
Subject: [noparse][[/noparse]basicstamps] Robot distance measurements
> I was wondering can anybody think of a way to determine the distance a
> wheeled robot (such as the BOE-BOT) using a standard PS/2 ball mouse
> that touches the floor? I was thinking if I used the PAK PS/2 keyboard
> decoder that I might be able to come up with a system. I would be using
> a standard BS2 and a BOE. Any thoughts, comments, suggestions, or code
> (hint hint) would be greatly appreciated. I have been using stamps for
> about 4 years now so don't be afraid to throw something big at me.
> Thanks in advance,
> Jacob Dilles (KG4AUW)
Hi Jacob:
Adhesive labels printed with radial segments using a QRD1114 Fairchild
sensor works very well - cheap and simple. 36 segments gave better than 1/4"
resolution, but 22 segs is good starting point.
With only one channel it is not possible to sense direction but you already
have that info by way of driving the Servo, therefore you know whether to
Incr/Decr the distance count.
That secondary task of Servos 'in parallel' leads to a much bigger problem
than the actual distance sensing. How can you sit in a tight loop timing the
Servo AND carefully monitor the Encoder? A single code loop for both, timing
2 servos + monitoring 2 encoders + calculating dynamic padding is possible,
but that is not good practice, and is a dead end.
If you go to
www.rhombus-tek.com/SMt_Rob.pdf
you will see how a BS2 can handle 2 Servos + 2 Wheel Encoders + DevanTech +
Sharp + Receive PC data at 28,800 baud. All in parallel.
David H Lawrence
Simple Multi-tasking, Co-Processors, Compilers, and microGUI
mailto:david@r...
http://www.rhombus-tek.com
---
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[noparse][[/noparse]Non-text portions of this message have been removed]
or calculation steps, I decided to have my wheel revolution counter feed a
hardware ripple counter so I didn't have to worry about missing counts, then
read the ripple counter when I have time in the program. That allowed me
to worry less about program timing.
Ripple counters are pretty easy to use, don't require much more hardware to
integrate with a stamp, and are cheap. However, they will take a couple
more of your serial ports to integrate than a simple wheel revolution
counter.
Original Message
From: David Lawrence [noparse]/noparse]mailto:[url=http://forums.parallaxinc.com/group/basicstamps/post?postID=lLuOdfLVUcbEvGoJ54iu8WmEvDVJKMTyWPpAAnujMm-QP_bmvj_ecCwbux2MlsGF5b29AOv9wdoCFPA]david@r...[/url
Sent: Saturday, September 28, 2002 1:44 PM
To: basicstamps@yahoogroups.com
Subject: Re: [noparse][[/noparse]basicstamps] Robot distance measurements
Original Message
From: "J. Dilles" <theshadow2754@h...>
To: "Basic Stamps @ Yahoo" <basicstamps@yahoogroups.com>
Sent: Friday, September 27, 2002 12:07 PM
Subject: [noparse][[/noparse]basicstamps] Robot distance measurements
> I was wondering can anybody think of a way to determine the distance a
> wheeled robot (such as the BOE-BOT) using a standard PS/2 ball mouse
> that touches the floor? I was thinking if I used the PAK PS/2 keyboard
> decoder that I might be able to come up with a system. I would be using
> a standard BS2 and a BOE. Any thoughts, comments, suggestions, or code
> (hint hint) would be greatly appreciated. I have been using stamps for
> about 4 years now so don't be afraid to throw something big at me.
> Thanks in advance,
> Jacob Dilles (KG4AUW)
Hi Jacob:
Adhesive labels printed with radial segments using a QRD1114 Fairchild
sensor works very well - cheap and simple. 36 segments gave better than 1/4"
resolution, but 22 segs is good starting point.
With only one channel it is not possible to sense direction but you already
have that info by way of driving the Servo, therefore you know whether to
Incr/Decr the distance count.
That secondary task of Servos 'in parallel' leads to a much bigger problem
than the actual distance sensing. How can you sit in a tight loop timing the
Servo AND carefully monitor the Encoder? A single code loop for both, timing
2 servos + monitoring 2 encoders + calculating dynamic padding is possible,
but that is not good practice, and is a dead end.
If you go to
www.rhombus-tek.com/SMt_Rob.pdf
you will see how a BS2 can handle 2 Servos + 2 Wheel Encoders + DevanTech +
Sharp + Receive PC data at 28,800 baud. All in parallel.
David H Lawrence
Simple Multi-tasking, Co-Processors, Compilers, and microGUI
mailto:david@r...
http://www.rhombus-tek.com
---
Outgoing mail is certified Virus Free.
Checked by AVG anti-virus system (http://www.grisoft.com).
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[noparse][[/noparse]Non-text portions of this message have been removed]
http://www.mil.ufl.edu/links/datasheets/Counters/mc74hc393.pdf
Original Message
From: Sadler Porter [noparse]/noparse]mailto:[url=http://forums.parallaxinc.com/group/basicstamps/post?postID=KZHH_d6w1aidoJTkG5Z1PN7k5og81GnNt_uPmZgPpQy_Iemk9haXqS_ErN0kqMXz3xIMGHyagvskqeurS9du]porter.sadler@s...[/url
Sent: Saturday, September 28, 2002 12:47 PM
To: basicstamps@yahoogroups.com
Subject: RE: [noparse][[/noparse]basicstamps] Robot distance measurements
Which ripple counter part numbers are you using
Are they up-down or straight counts
Original Message
From: cholm@m... [noparse]/noparse]mailto:[url=http://forums.parallaxinc.com/group/basicstamps/post?postID=O9NiBzHepJT_HqHqhV9sCU7i5j-T0mrBahvO85wbai5chq6Fd9VnUuxO1uUpY_-a0RHZpdrszA]cholm@m...[/url
Sent: Saturday, September 28, 2002 12:58 PM
To: basicstamps@yahoogroups.com
Subject: RE: [noparse][[/noparse]basicstamps] Robot distance measurements
For a similar problem, of handling the needs of two simultaneous measurement
or calculation steps, I decided to have my wheel revolution counter feed a
hardware ripple counter so I didn't have to worry about missing counts, then
read the ripple counter when I have time in the program. That allowed me
to worry less about program timing.
Ripple counters are pretty easy to use, don't require much more hardware to
integrate with a stamp, and are cheap. However, they will take a couple
more of your serial ports to integrate than a simple wheel revolution
counter.
Original Message
From: David Lawrence [noparse]/noparse]mailto:[url=http://forums.parallaxinc.com/group/basicstamps/post?postID=_HDFCFIyJQHbYW8YbTiAjxVoa3H7vrN68mDx3tntF-68dFycgwnHOgFAIo5A0kxG8VEieIdJzNH2_hTiEpKg]david@r...[/url
Sent: Saturday, September 28, 2002 1:44 PM
To: basicstamps@yahoogroups.com
Subject: Re: [noparse][[/noparse]basicstamps] Robot distance measurements
Original Message
From: "J. Dilles" <theshadow2754@h...>
To: "Basic Stamps @ Yahoo" <basicstamps@yahoogroups.com>
Sent: Friday, September 27, 2002 12:07 PM
Subject: [noparse][[/noparse]basicstamps] Robot distance measurements
> I was wondering can anybody think of a way to determine the distance a
> wheeled robot (such as the BOE-BOT) using a standard PS/2 ball mouse
> that touches the floor? I was thinking if I used the PAK PS/2 keyboard
> decoder that I might be able to come up with a system. I would be using
> a standard BS2 and a BOE. Any thoughts, comments, suggestions, or code
> (hint hint) would be greatly appreciated. I have been using stamps for
> about 4 years now so don't be afraid to throw something big at me.
> Thanks in advance,
> Jacob Dilles (KG4AUW)
Hi Jacob:
Adhesive labels printed with radial segments using a QRD1114 Fairchild
sensor works very well - cheap and simple. 36 segments gave better than 1/4"
resolution, but 22 segs is good starting point.
With only one channel it is not possible to sense direction but you already
have that info by way of driving the Servo, therefore you know whether to
Incr/Decr the distance count.
That secondary task of Servos 'in parallel' leads to a much bigger problem
than the actual distance sensing. How can you sit in a tight loop timing the
Servo AND carefully monitor the Encoder? A single code loop for both, timing
2 servos + monitoring 2 encoders + calculating dynamic padding is possible,
but that is not good practice, and is a dead end.
If you go to
www.rhombus-tek.com/SMt_Rob.pdf
you will see how a BS2 can handle 2 Servos + 2 Wheel Encoders + DevanTech +
Sharp + Receive PC data at 28,800 baud. All in parallel.
David H Lawrence
Simple Multi-tasking, Co-Processors, Compilers, and microGUI
mailto:david@r...
http://www.rhombus-tek.com
---
Outgoing mail is certified Virus Free.
Checked by AVG anti-virus system (http://www.grisoft.com).
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from the same email address that you subscribed. Text in the Subject and
Body of the message will be ignored.
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This e-mail message may contain legally privileged and/or confidential
information. If you are not the intended recipient(s), or the employee
or agent responsible for delivery of this message to the intended
recipient(s), you are hereby notified that any dissemination,
distribution or copying of this e-mail message is strictly prohibited.
If you have received this message in error, please immediately notify
the sender and delete this e-mail message from your computer.
[noparse][[/noparse]Non-text portions of this message have been removed]
To UNSUBSCRIBE, just send mail to:
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from the same email address that you subscribed. Text in the Subject and
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Your use of Yahoo! Groups is subject to http://docs.yahoo.com/info/terms/
[noparse][[/noparse]Non-text portions of this message have been removed]
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or agent responsible for delivery of this message to the intended
recipient(s), you are hereby notified that any dissemination,
distribution or copying of this e-mail message is strictly prohibited.
If you have received this message in error, please immediately notify
the sender and delete this e-mail message from your computer.
[noparse][[/noparse]Non-text portions of this message have been removed]
Original Message
From: "J. Dilles" <theshadow2754@h...>
To: "Basic Stamps @ Yahoo" <basicstamps@yahoogroups.com>
Sent: Friday, September 27, 2002 12:07 PM
Subject: [noparse][[/noparse]basicstamps] Robot distance measurements
> I was wondering can anybody think of a way to determine the distance a
> wheeled robot (such as the BOE-BOT) using a standard PS/2 ball mouse
> that touches the floor? I was thinking if I used the PAK PS/2 keyboard
> decoder that I might be able to come up with a system. I would be using
> a standard BS2 and a BOE. Any thoughts, comments, suggestions, or code
> (hint hint) would be greatly appreciated. I have been using stamps for
> about 4 years now so don't be afraid to throw something big at me.
> Thanks in advance,
> Jacob Dilles (KG4AUW)
Hi Jacob:
Adhesive labels printed with radial segments using a QRD1114 Fairchild
sensor works very well - cheap and simple. 36 segments gave better than 1/4"
resolution, but 22 segs is good starting point.
With only one channel it is not possible to sense direction but you already
have that info by way of driving the Servo, therefore you know whether to
Incr/Decr the distance count.
That secondary task of Servos 'in parallel' leads to a much bigger problem
than the actual distance sensing. How can you sit in a tight loop timing the
Servo AND carefully monitor the Encoder? A single code loop for both, timing
2 servos + monitoring 2 encoders + calculating dynamic padding is possible,
but that is not good practice, and is a dead end.
If you go to
www.rhombus-tek.com/SMt_Rob.pdf
you will see how a BS2 can handle 2 Servos + 2 Wheel Encoders + DevanTech +
Sharp + Receive PC data at 28,800 baud. All in parallel.
David H Lawrence
Simple Multi-tasking, Co-Processors, Compilers, and microGUI
mailto:david@r...
http://www.rhombus-tek.com
---
Outgoing mail is certified Virus Free.
Checked by AVG anti-virus system (http://www.grisoft.com).
Version: 6.0.384 / Virus Database: 216 - Release Date: 8/21/02
of a actual computer mouse attached to the bottom of the 'bot. I think
a mouse would work better then the 2 wheel encoders pulled out of one
because it is pre-made for tracking movement.
If anyone knows anything about how computer mice work, all help would be
appreciated. a few questions I have right now are:
is the output of the mouse is absolute or relative?
If it is absolute, does it reset every once in a while or just keep
going?
how is the data sent on the bus?
Is it feasible to have a bs2 read this data, or should a separate
decoder be used (pac or pic)?
And finally, am I missing something that could set me up for total
failure??? Anyway, thank you all again, Jacob
[noparse][[/noparse]Non-text portions of this message have been removed]