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jessvi created page: Lab10 authored by Jesper Kurtzmann Svith's avatar Jesper Kurtzmann Svith
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...@@ -20,6 +20,7 @@ Make the base vehicle drive a few times in a square and figure out how accurate ...@@ -20,6 +20,7 @@ Make the base vehicle drive a few times in a square and figure out how accurate
### Plan ### Plan
We will conduct a series of tests and note the robots offset to the starting position. For this we use a paper layout with a predefined grid structure as seen below: We will conduct a series of tests and note the robots offset to the starting position. For this we use a paper layout with a predefined grid structure as seen below:
![2015-05-29 09.28.08](http://gitlab.au.dk/uploads/group-22/lego/6094598bfc/2015-05-29_09.28.08.jpg) ![2015-05-29 09.28.08](http://gitlab.au.dk/uploads/group-22/lego/6094598bfc/2015-05-29_09.28.08.jpg)
##### Fig. 1 - Paper layout with grid structure.
### Test 1 ### Test 1
For the first test we used the wide offroad wheels. The wheels have a diameter of 55 mm and the space between the wheels (track width) is 160 mm. These values were inserted in PilotSquare.java: For the first test we used the wide offroad wheels. The wheels have a diameter of 55 mm and the space between the wheels (track width) is 160 mm. These values were inserted in PilotSquare.java:
...@@ -27,7 +28,15 @@ For the first test we used the wide offroad wheels. The wheels have a diameter o ...@@ -27,7 +28,15 @@ For the first test we used the wide offroad wheels. The wheels have a diameter o
``` ```
double wheelDiameter = 5.5, trackWidth = 16; double wheelDiameter = 5.5, trackWidth = 16;
``` ```
#### Fig. 2 - Codesnippet from PilotSquare.java ##### Fig. 2 - Codesnippet from PilotSquare.java
### Results:
According to the program the robot should travel 20 cm before turning 90 degrees. This cycle is repeated 4 times in order to perform a square. After driving the robot ended up 5 mm to the right and 7 mm in front of its starting position.
![IMG_0665](http://gitlab.au.dk/uploads/group-22/lego/ffe240c5cc/IMG_0665.JPG)
##### Fig. 3 - First testrun: Ended 5mm to the right and 7mm in front of its starting position.
In this experiment the robot should have travelled a total of 20*4=80 cm. Using Pythagoras theorem it is revealed that the robot travelled 8.6 mm more than intended. This gives an error of (80.86/80*100)-100 = 1.075 %.
### Test 2 - Robot with slim wheels
In order to minimise the error we replaced the wide offroad wheels with slim wheels with a slightly smaller diameter. The slim wheels have a diameter of 30 mm and a track width of 15 cm. Additionally we equipped the robot with an extended pointer to make sure the robot drives straight from the beginning.