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##### Fig. 13 - The robot starting position.
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### Initial drive (Wheel diameter 3.0):
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The initial drive revealed a traveled distance of 51 cm which is 1 cm more than targeted. Looking at the pose() values (showed below) we know that the program thinks it has travelled the targeted 50 cm which means that the wheel diameter value is not properly adjusted.
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The initial drive revealed a traveled distance of 51 cm which is 1 cm more than targeted. Looking at the pose() values (See fig. 15) we know that the program thinks it has travelled the targeted 50 cm which means that the wheel diameter value is not properly adjusted.
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![IMG_0679](http://gitlab.au.dk/uploads/group-22/lego/299f6cf5de/IMG_0679.JPG)
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##### Fig. 14 - Ending position of the robot after test run.
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