... | @@ -79,6 +79,7 @@ Avg. wheel thickness: |
... | @@ -79,6 +79,7 @@ Avg. wheel thickness: |
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![Skærmbillede 2015-06-01 kl. 09.42.53](http://gitlab.au.dk/uploads/group-22/lego/a94a8f240e/Sk%C3%A6rmbillede_2015-06-01_kl._09.42.53.png)
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![Skærmbillede 2015-06-01 kl. 09.42.53](http://gitlab.au.dk/uploads/group-22/lego/a94a8f240e/Sk%C3%A6rmbillede_2015-06-01_kl._09.42.53.png)
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##### Fig. 8 - Average wheel thickness.
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##### Fig. 8 - Average wheel thickness.
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The point of the wheel where the diameter is largest would naturally be at the centre point, at 0,31cm/2 = 0,155 cm
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The point of the wheel where the diameter is largest would naturally be at the centre point, at 0,31cm/2 = 0,155 cm
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The True Track Width with the slim wheels was therefore calculated as following:
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The True Track Width with the slim wheels was therefore calculated as following:
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... | @@ -98,4 +99,15 @@ The extended arm with two pointers made it easier to align the robot to the line |
... | @@ -98,4 +99,15 @@ The extended arm with two pointers made it easier to align the robot to the line |
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Play in the wheels is a non-systematic error, as it is determined by chance and not a consistent recurring inaccuracy. An example of a systematic error, would be if one wheel had a slightly larger diameter than the other, or that one of the electrical motors
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Play in the wheels is a non-systematic error, as it is determined by chance and not a consistent recurring inaccuracy. An example of a systematic error, would be if one wheel had a slightly larger diameter than the other, or that one of the electrical motors
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## Calibrate the wheel diameter and the track width
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## Calibrate the wheel diameter and the track width
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To calibrate the robots travel distance according to the wheel diameter we modified the code from PilotSquare.java as follows: |
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To calibrate the robots travel distance according to the wheel diameter we modified the code from PilotSquare.java as follows:
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\ No newline at end of file |
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```
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pilot.travel(50);
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show(poseProvider.getPose());
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```
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##### Fig. 11 - Codesnippet from PilotSquare.java
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This code should drive the robot forward 50 cm’s. In order to get accurate results the robot was placed on a paper with a grid layout and markers for each 25 cm’s. By doing this we know that if the robot is calibrated correctly it will stop after two lines corresponding to 50 cm.
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