I have two sumobots that I have been working with. I was wondering if it is possible to measure feedback for servos. I would like to get the robots to sense if they are being pushed and know if they are losing a push fight so they can break free.
jaeg said...
I have two sumobots that I have been working with. I was wondering if it is possible to measure feedback for servos. I would like to get the robots to sense if they are being pushed and know if they are losing a push fight so they can break free.
I assume that sumobots are "in the business" of pushing and being pushed (and not just running the other way).
So, assuming that pushing/being pushed is gonna happen, how would you like to (operationally) define "losing a push fight"?
The answer to that question might suggest what things need to be measured in order to determine whether the definition is being fulfilled or not.
This sounded like a really difficult problem, which would require you to monitor 'wheel-spin' by using some position encoder device on the wheel.
But it might be possible to measure the current the servo is using. When 'stalled' while being commanded to full speed, I would guess lots of current would be used. Is there a simple method out there to measure the current on a servo?
Comments
So, assuming that pushing/being pushed is gonna happen, how would you like to (operationally) define "losing a push fight"?
The answer to that question might suggest what things need to be measured in order to determine whether the definition is being fulfilled or not.
PAR
But it might be possible to measure the current the servo is using. When 'stalled' while being commanded to full speed, I would guess lots of current would be used. Is there a simple method out there to measure the current on a servo?