Скачать или смотреть First Moves from the KRZ04 Using a Brushed Motor Controller

This demo shows rotation in place and crab movement of the KRZ04 robot.

Following the tragedy of a blue smoke moment for the STM32 brushless motor controller I'd been using previously, coupled with my discontent with the reliability of its UART connection and the single-encoder motors (which could not provide directional feedback), rather than replace the STM32 I decided to go back to the brushed motors and motor controllers used on the MR01, my Mars rover.

This hardware and software transition took almost two weeks, and this demo is the first movements of the robot using this alternative drive. The motors are noisier, not as smooth, and there doesn't seem to be as much power (at least yet, there is still some tuning to be done), but the robot at least moves again, and I have very direct control over the PID controllers: e.g., these movements are accomplished by setting a "steering mode", adding lambda functions for rotation or crab movement to the normal forward movement of the motors.

In this demo the robot should theoretically end up in its starting position. While using closed loop control, both the rotation and crab movements drift because of inconsistencies in how the Mecanum wheels interact with the carpet, and possibly because of imbalance in the robot's weight across its wheels, though I've done as much as possible to keep it balanced.

I'd like to incorporate the magnetometer to be able to rotate the robot onto compass points rather than using timing, which is very imperfect. I may also see if it's possible to mount an Optical Flow Sensor underneath the robot.

Early days, still lots of work to do...