Tweaks page
This shows the extra things we could do with each robot competition.
Essentials
- stop on correct line after starting (early lines are start line, and crossovers)
- calibrate the stop sensor, as well as the line sensors
- ignore the stop sensor if robot has "fallen off" - it could be the main line it's seeing.
For better lap times we could try:
- slowing down during the curves. This can be done by having a smaller speed if fallen off
- using extended error calculation to make the steering smoother
For making tuning simpler:
- use TV remote or Bluetooth to adjust parameters on the fly
- make the robot self-time from start to stop, and record it in a log file, "log.txt"
Drag racing
Essentials
- stop on second line after starting (first line is the start line)
- use a loop time of 5 mS or less so we don't miss the stop line
- calibrate the stop sensor, as well as the line sensors
- ignore the stop sensor if robot has "fallen off" - it could be the main line it's seeing.
For better Run times we could try:
- use the stop sensor to start the race
- use a "speed profile" to adjust the speed according to time running.
For making tuning simpler:
- make the robot self-time from start to stop, and record it in a log file, "log.txt"
- use TV remote or Bluetooth to adjust theparameters
Programs
BASIC_LF.py - fall-off included, but fixed values.
- derivative included
- speed switches are read before the button is pressed.
(Need to power down to change speed.)
WKS9.py 13/1/2022 - speed Switches are read on button-press,
- no derivative ,
- no fall-off detection
- loop time 10 ms
WKS9x 26/1/22 - fall-off included, but fixed values
- derivative included
WKS9y.py - Bluetooth
WKS9z.py
- Fall-off detection, Derivative, Calibration of line-sensors.
WKS9z2.py
- calibs() for calibrating stop sensor
- CheckStop and Clearstop to test stop sensor
- mult 0.14
- loop time 5 ms
Drag1.py
- this is not on the website yet, but will have all the tweaks in it!