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Armadillo Calibration
Odometri constants
It is aasumed that the tuningpoint for the belts is the center of the belts.
- Insert the calculated values
cl=0.00312
cr=0.00312
w =1.31
UMB-mark test
<task>
TITLE: Document the result
PRIORITY: High
ESTIMATE: 5 h
PROGRESS: 0%
ASSIGNED: Karina
DESCRIPTION:See taskfreak
</task>
UMB (168 KB)
BEFORE CALIBRATION
r c.g.cw(cm) = 83,43
r c.g.ccw(cm) = 128,6701986
L=2m
CLOCKWISE |
| ϵx [cm] | | ϵy [cm] |
1 | -63 | | -63,5 |
2 | -50,5 | | -59 |
3 | -34 | | -65 |
4 | -26,5 | | -78,5 |
5 | -41 | | -91,5 |
Xc.g.= | -43 | Yc.g.= | -71,5 |
COUNTERCLOCKWISE |
| ϵx [cm] | | ϵy [cm] |
1 | -71 | | 97 |
2 | -100 | | 112 |
3 | -74 | | 87 |
4 | -69 | | 123 |
5 | -65,5 | | 100,5 |
Xc.g.= | -75,9 | Yc.g.= | 103,9 |
Calculations
β = | -235,7484076 cm |
| -2,357 m |
b -actual = | 1,68336 | calibrated value of wheelbase |
1.524 | before calibration |
| | Before Calibration | After Calibration |
CL = | 1,0156 | 0,0034301 | 0,00348377 |
CR = | 0,9844 | 0,003244 | 0,003193242 |
AFTER CALCULATION
r c.g.cw(cm) = 4,12
r c.g.ccw(cm) = 29,35
CLOCKWISE |
| ϵx [cm] | | ϵy [cm] |
1 | -6 | | -14,5 |
2 | -12,5 | | -10 |
3 | 5,5 | | 8 |
4 | -5,5 | | -7 |
5 | 2,5 | | 10,5 |
Xc.g.= | -3,2 | Yc.g.= | -2,6 |
COUNTERCLOCKWISE |
| ϵx [cm] | | ϵy [cm] |
1 | -38,5 | | 24 |
2 | -27 | | 10 |
3 | -19,5 | | 11 |
4 | -22,5 | | 20 |
5 | -22 | | 4 |
Xc.g.= | -25,9 | Yc.g.= | 13,8 |