How to test and modify the PID coefficients for NavBot’s Pilot.
Created a new bot better suited for dead reckoning navigation. And the results?
During the development of the NavBot I was forced to deal with and understand the systematic errors (and non-systematic errors) of the Zumo chassis. Maybe I’m expecting too much from a tracked-based dead-reckoning bot.
Short video of the Pilot’s first movement tests.
It’s alive! Kind of….
Now that the WallBot has functioning wheel encoders I’m eager to evolve it from a simple wall-avoiding robot to one that can autonomously navigate its environment.
First I need to design how the software will work.
Put together a quick and dirty dead reckoning experiment now that the encoders and PID controller are working. Very happy with the results, even if they are superficial.
With the encoders working it’s time to tune the PID controller for driving in straight lines.
Discovered there was an alternate and simpler solution than using Trinket.
Also received a bluetooth module and put it to use.
Finally completed the Zumo build, code and all. It was way more work than I bargained for.
Ended up adding a second microprocessor (The Trinket) to handle sensor and servo functions, implemented an I2C slave and wrangled new interrupt-driven servo code.
Completed the Zumo hardware side and got the encoders working but then hit a road block trying to get the motors to turn…
Did a little more work on the sumo type bot.
Added a perfboard with a mounted servo for a sweeping collision sensor.
Decided to build the Pololu Zumo chassis with their optical encoders.
Still need to figure out a circuit to convert the encoders’ analog signal to digital.