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Sounds like you need to limit your angle as you turn into the wall.Originally Posted by Kenjones1935
When adjusting right to get to your imaginary line (closer to the wall), if front distance < 3 * side distance, then turn left (until front distance > 3 * side distance). Something like this should help keep from making too big of a right turn, but still get you closer to the wall.
Changing the 3 would change the angle you would allow.
http://www.scalerobotics.com
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I am pretty sure this method will lead to oscillations. In fact in the Ken's video this really happens. The car "oscillates" around its desired path.
With simple if-then commands this cannot be compensated. As discussed in previous post, a PID loop control can help.
Ioannis
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I did as scalerobotics suggested and
it worked better. Now it goes pretty straight but does not turn left hard enough when confronted with a corner. Watching and listening to my video I conclude that at this speed with this little friction the PIC needs more warning (I only gave it 53 inches) to turn sharply left. I'll change that and try again tomorrow. Also this sharp left turn should not be modulated. It should be bang.
It is a bit of a drive to my deserted gym. It has no heat and no electricity. My laptop crashed a few weeks ago. So one fix on my desktop PC, one test.
A question: Do you folks recommend any editor that automates my version control? I would like to start with version 1.0 then activate an editor that automatically adds each of my code changes one batch at a time. If I had that I could recreate any past version.
Presently I am saving the versions identified by their checksum. That is clumsy.
Ken
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Post Script
I like the sliding robocar. If I want solid control I would go back to the 1/10 scale hobby level car. There are many available rubber compounds for the hobby car wheels. They have caster, toe-in, four wheel drive and weigh four pounds.
Sliding looks like dirt track racing. When I was a kid we had midget car racing with little four cylinder Offenhouser engines on a 1/4 mile dirt oval. I did not do it, but I sure did watch.
Ken
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Versions..
Might be kind of crude, but I just copy the *.bas file and paste it into the same directory. The the copy has Copy(x) added to the file name. Then the date and time stamp can be referenced.
Dave
Always wear safety glasses while programming.
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How do you keep track of the changes?
How do you keep track of the details of each change? Comments grow and grow and grow...
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Dave
Always wear safety glasses while programming.
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Dave,
do you keep the *.bas, *.pbp in the default directory? Does compiler have any problem with the path?
I am considering to keep my files there too.
Ioannis
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You mean something like post# 649? http://www.picbasic.co.uk/forum/show...6577#post96577
But since you have a Pickit2, it would probably be nice to put your car on a bench, leave your Pickit2 tethered, and use the Uart Tool. You can give all kinds of info from your pic out to your computer screen. You can have it tell you pinged distances for both sensors, etc. It can be a really handy tool for trouble shooting. All you need is some debug statements giving you the right data.
Walter
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Walter, thanks...
At the time of that posting last November I did not understand it. Upon rereading I will try it. Where is the modifier "dig" mentioned and defined? I do not see it. Must be in one of the 'include' files. Yes?
I never figured out how to use the MPLAB debugger. I thought it was only good for simulation running on my PC. I will give it a try.
thanks again...
Ken
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