>
> Fortunately, I think I will be always running on level ground, as it
> will be
> inside. However, the echo system will be an attempt to compensate
> both for
> slippage, as well as for driving over such things as transition
> strips.
>
> What I meant by motor speed input is that the speed input will be a
> range of
> about 25 in my case, which is a manageable number. Therefore, I can
> time
> true speed at different settings to come up with a speed curve. If
> this is
> done with some care, and with multiple repetitions, the error in
> this should
> be acceptable. Heck, it HAS to be acceptable. The echo locator,
> which is a
> pair or SRF08 sonar sensors, will be taking a reading every 2s, and
> comparing sequential readings off of the closest five items. The
> error on
> the SRF08 between sequential reads seems tolerable enough that this
> kind of
> triangulation will allow me to detect signficant slippage, and the
> dead
> reckoning module is designed to be able to adjust its calculations
> on the
> fly.
That sounds pretty darned good.
> If that doesn't work, a magnetic leaf switch could be used to measure
> rotations on the wheel, but I'll see whether or not I need to, first.
If you are working indoors on level ground I doubt it will be an
issue. Tire type and composition would effect the results.
--
Brian Lloyd Granite Bay Montessori
brian AT gbmontessori DOT com 9330 Sierra College Blvd.
+1.916.367.2131 (voice) Roseville, CA 95661, USA
I fly because it releases my mind from the tyranny of petty things . . .
— Antoine de Saint-Exupéry
PGP key ID: 12095C52A32A1B6C
PGP key fingerprint: 3B1D BA11 4913 3254 B6E0 CC09 1209 5C52 A32A 1B6C
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