Re: [WheelCommander] Wheel Commander

["Hank van Buuren" <hvburen@xxxxxxxxxxxx>]

Pete,

 

I can use all the help I can get I am new to this.

 

I have struckeld with the the the Parallax Wheel and Motor mount long enough and the time has come to make a "change".

 

 

----- Original Message -----

From: Pete Skeggs

To: WC-132 WheelCommander Controller Support List

Sent: Wednesday, April 15, 2009 4:04 PM

Subject: Re: [WheelCommander] Wheel Commander

Hank,

Glad it works for you.  Nice job.

You might be able to reduce the hesitation by changing your code a bit.  The serial link between the BasicStamp and the WheelCommander is slow, due to limitations in the BasicStamp itself. 

So, you should only send updates to velocity when the velocity command needs to change value; if it is always 30, then you only need to send it once after each time you stop the robot.  Further, you only need to send the set rotation rate to the WheelCommander when its value changes.

If the value of the velocity and/or rotation rate does not change for a while, your program is wasting time and bandwidth of the serial link repeating itself; just send them when the change and then send a Go to make them take effect.  Only send them when they change values.

-Pete

Hank van Buuren wrote:

loop4:
rotation = 0
GOSUB setrotationrate
velocity = 30
GOSUB setvelocity
GOSUB go

 

enter:
DEBUGIN SDEC rotation
GOSUB setrotationrate
velocity = 30
GOSUB setvelocity
GOSUB go
GOTO enter

 

END

 

Pete,

I have replaced loop4 on your wc132_bs_2 demo with this part program.

It does exactly what I wanted it to do and it is perfect for our job.

 

I have noted one discrepancy in my program, when changing the sign on

rotation (changing from Left to right control) there is a a hesitation before

the change in wheel speed takes effect. It is almost like it has to clear before

it takes effect.

Hank

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