05. Robot Checkup - m-marini/wheellyj GitHub Wiki

The robot checkup connects to the robot and displays the status of the sensors. It is possible to perform checks on sensor scanning, on-site rotation, and forward and backward movement.

The application can be used to tune the movement configuration parameters.

Run

After installed the application run the command:

bin\runnit org.mmarini.wheelly.apps.RobotCheckUp

the options are

usage: org.mmarini.wheelly.apps.RobotCheckUp
       [-h] [--version] [-c CONFIG] [-v]

Run manual control robot.

named arguments:
  -h, --help             show this help message and exit
  --version              show the current version
  -c CONFIG, --config CONFIG
                         specify  the  yaml  configuration  file  (default:
                         checkup.yml)
  -v, --verbose          print verbose output (default: false)

Movement disorder

The robot rotates too fast

This may be caused by excessive rotation speed, so it is necessary to reduce the maximum rotation speed.

Inability to stop movement

Motor power threshold p0 value too high.

Sudden movements at the start

Motor power threshold p1 value too high.

Inability to initiate movement

Motor power threshold p1 value too low.

Stopping movement prematurely.

Motor power threshold p0 value too low.

The robot moves imprecisely, oscillating around the desired direction.

This may be caused by incorrect control of the movement parameters.

Anti-slip regulation less responsive

The ax anti-slip coefficient too low. It controls the acceleration of the motors.

  • A value of 1 corresponds to an acceleration of 1 power unit per second
  • A value of 1000 corresponds to an acceleration of 1000 power units per second

Wheel slip

The ax anti-slip coefficient too high. It controls the acceleration of the motors.

  • A value of 1 corresponds to an acceleration of 1 power unit per second
  • A value of 1000 corresponds to an acceleration of 1000 power units per second

Theoretical power modulation

alpha is the theoretical power coefficient.

  • A value of 0 corresponds to no application of theoretical power.
  • A value of 100 corresponds to the application of full theoretical power.

Feedback

mu is the feedback coefficient. It controls the power acceleration to counteract the difference between the requested and actual speed.

  • A value of 0 corresponds to no acceleration.
  • A value of 1000 corresponds to an acceleration of 1 power unit per pps per second.

Values ​​that are too low make power correction impossible if the speed is incorrect.

Values ​​that are too high make power correction unstable, generating speed oscillations.

Release 0.26.1