This is an old revision of the document!
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
- This file is not updated with the lastest constant calculations
<?xml version="1.0" ?> <!-- Configuration file for SMRdemo This file is for the SMR Robot types differential, ackerman Name smr, mmr, ackerbot, hako, armadillo --> <robotinfo type="differential" name="armadillo" > <debug/> <speak /> <odometry cl ="0.00312" cr ="0.00312" w ="1.31" ts ="0.01" maxtick ="1000" control ="0" /> <motioncontrol ts ="0.01" line_gain ="0.05" line_tau ="10" line_alfa ="0.3" wall_gain ="1" wall_tau ="0.7" wall_alfa ="0.2" drive_kdist ="4.8" drive_kangle="2.25" kp ="10" gain ="1" tau ="0.16" alfa ="0.2" w ="0.26" lim ="0.2" stopdist ="0.18" alarmdist ="0.1" velcmd ="0.3" acccmd ="0.3" nolinedist ="0.2" /> <motorcontrol velscalel = "100" velscaler ="100" kp ="66" ki ="10" /> <filter type="EKF" run="1" use="0" size_input="2" size_state="3" size_noise_process="2" size_output="2" size_noise_output="2" measurementnoise_std_x="0.1" measurementnoise_std_y="0.11" processnoise_std_stearingangle="0.01" processnoise_std_dist="0.02" > <matrix name="A" size="3 3" type="double"> 1 2 3 4 5 6 7 8 9 </matrix> <matrix name="B" size="3 3" type="double"> 12 22 32 42 52 62 72 82 92 </matrix> <matrix name="C" size="3 3" type="double"> 14 24 34 44 54 64 74 84 94 </matrix> </filter> </robotinfo>