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robots:armadillo:software [2012/04/25 11:23] claes [Measurement of odometri constants] |
robots:armadillo:software [2021/08/14 04:21] |
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- | ====== Armadillo Scout Software ====== | ||
- | === Control Software === | ||
- | * [[robotsoftware: | ||
- | * [[robotsoftware: | ||
- | |||
- | ===== MobotWare ===== | ||
- | ==== Measurement of odometri constants ==== | ||
- | FIXME - Insert the measured values | ||
- | It is aasumed that the tuningpoint for the belts is the center of the belts. | ||
- | The distance between the belts has been measured three time | ||
- | |||
- | -maalinger | ||
- | |||
- | Mean: | ||
- | |||
- | The movement of one tick has been measured adn calculated to | ||
- | |||
- | === UMB-mark test === | ||
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- | ==== Configuration file ==== | ||
- | FIXME - This file is not updated with the lastest constant calculations | ||
- | <file xml robot.conf> | ||
- | <?xml version=" | ||
- | |||
- | <!-- | ||
- | Configuration file for SMRdemo | ||
- | This file is for the SMR | ||
- | |||
- | Robot types | ||
- | differential, | ||
- | |||
- | Name | ||
- | smr, mmr, ackerbot, hako, armadillo | ||
- | --> | ||
- | |||
- | < | ||
- | type=" | ||
- | name=" | ||
- | > | ||
- | < | ||
- | < | ||
- | |||
- | |||
- | < | ||
- | cl =" | ||
- | cr =" | ||
- | w =" | ||
- | ts =" | ||
- | maxtick =" | ||
- | control =" | ||
- | /> | ||
- | |||
- | < | ||
- | ts =" | ||
- | line_gain =" | ||
- | line_tau =" | ||
- | line_alfa =" | ||
- | wall_gain =" | ||
- | wall_tau =" | ||
- | wall_alfa =" | ||
- | drive_kdist =" | ||
- | drive_kangle=" | ||
- | kp =" | ||
- | gain =" | ||
- | tau =" | ||
- | alfa =" | ||
- | w =" | ||
- | lim =" | ||
- | stopdist =" | ||
- | alarmdist =" | ||
- | velcmd =" | ||
- | acccmd =" | ||
- | nolinedist =" | ||
- | /> | ||
- | |||
- | < | ||
- | velscalel = " | ||
- | velscaler =" | ||
- | kp =" | ||
- | ki =" | ||
- | /> | ||
- | |||
- | < | ||
- | | ||
- | | ||
- | | ||
- | |||
- | | ||
- | | ||
- | | ||
- | |||
- | | ||
- | | ||
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- | | ||
- | | ||
- | | ||
- | | ||
- | > | ||
- | <matrix name=" | ||
- | 1 2 3 | ||
- | 4 5 6 | ||
- | 7 8 9 | ||
- | </ | ||
- | <matrix name=" | ||
- | 12 22 32 | ||
- | 42 52 62 | ||
- | 72 82 92 | ||
- | </ | ||
- | <matrix name=" | ||
- | 14 24 34 | ||
- | 44 54 64 | ||
- | 74 84 94 | ||
- | </ | ||
- | </ | ||
- | |||
- | </ | ||
- | </ | ||
- | ===== FroboMind ===== | ||
- | ==== Launchfile ==== | ||
- | |||