mj31382
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Hi, i tried calibrate my differential drive base using UMBMark but the error worsen. at first i did trial and error to make it go straight line and turn reasonably well. then i tried using UMBMark to fine-tune the error.
B = wheelbase, 70.37cm
C.left = 73.28 clicks per cm
C.right = 70.45 clicks per cm
L = 350cm (UMBMark square side)
i made it run 350cm for 1 round only. Otherwise it will hit the wall.
i wonder if i did anything wrong here. how should i include the number of round inside the formula?
and after i get the center of gravity coordinates, which value should i plug to the Xcgcw and Xccgw?
i assumed average Xcw and Xccw.
alpha = (Xcgcw+Xcgccw)/(-4L)*180/pi
beta = (Xcgcw-Xcgccw)/(-4L)*180/pi
R = (L/2)/sin(beta/2)
Eb = 90/(90-alpha)
Ed = (R+B/2)/(R-B/2)
C.left.error = 2/(1+Ed)
C.right.error = 2/(1/Ed+1)
Bnominal = Bactual*Eb
C.left.nominal = C.left*C.left.error
C.right.nominal = C.right*C.right.error
i attached my calculation in excel. any help is appreciated. thank you.
B = wheelbase, 70.37cm
C.left = 73.28 clicks per cm
C.right = 70.45 clicks per cm
L = 350cm (UMBMark square side)
i made it run 350cm for 1 round only. Otherwise it will hit the wall.
i wonder if i did anything wrong here. how should i include the number of round inside the formula?
and after i get the center of gravity coordinates, which value should i plug to the Xcgcw and Xccgw?
i assumed average Xcw and Xccw.
alpha = (Xcgcw+Xcgccw)/(-4L)*180/pi
beta = (Xcgcw-Xcgccw)/(-4L)*180/pi
R = (L/2)/sin(beta/2)
Eb = 90/(90-alpha)
Ed = (R+B/2)/(R-B/2)
C.left.error = 2/(1+Ed)
C.right.error = 2/(1/Ed+1)
Bnominal = Bactual*Eb
C.left.nominal = C.left*C.left.error
C.right.nominal = C.right*C.right.error
i attached my calculation in excel. any help is appreciated. thank you.