Hank van Buuren wrote:
I have a problem I want to use the program wc132_bs_2demo What I want to do use this program as a base and change Loop4: only What I wanted it to do: #1 Maintain a constant speed with both servos tracking a straight line#2 Change course using differential steering while maintaining a constant speed
wc132_bs_2demo is not meant to be a fully complete, does-everything-you-could-ever-want example. I'm depending on the customer to read the documentation, look through the examples, determine what they want their robot to do, then produce their own program that does what they want.
Once you have properly set up the WC132 using the WCWizard, you would accomplish your two goals as follows: #1 -- issue a Set Rotation Rate command with a value of 0 -- in other words, don't rotate. Then, issue a Set Velocity command with the value set to the constant speed desired. Then, issue a Go command to start the movement. Issue Coast or Brake commands to stop.
#2 -- if you just want the robot to turn a fixed, predetermined number of degrees, then use the Set Angle command with the value set to the number of degrees required, then issue Go. If instead you want to rotate the robot until something happens (a sensor changes?), use the Set Rotation Rate command set to your desired rate of rotation, and Set Velocity to 0, then Go.
I am using the default parameters
Did you follow the instructions to use the WCWizard to set up the WC132, including calibration and PID tuning?
I am having a difficult time understanding your logic behind the WC132
I'm sorry to hear that. But, it's hard to respond to such a statement, because I'm not sure where to even begin. What do you need help understanding? How much do you already know about the general robotics concepts of differential drive steering and speed control?
Have you studied the Kinematics section (page 3) and related diagrams on pages 4 and 5 in the Product Manual?
-Pete