Alt-BEAM Archive
Message #04421
To: beam@sgiblab.sgi.com
From: James Taylor edgar_the_hate_bug1@yahoo.com
Date: Fri, 11 Jun 1999 23:56:02 -0700 (PDT)
Subject: [alt-beam] Re: Turning a walker
Hello
Well several items contribute to the overall
turning abilities. BEAM tech has alot of goodies on
the subject. Currently I am using a uCore, with .22
uF Caps and 1 meg resistors. 2 motor walker, setup
similar to chui's, and the uni-bug. The Back motor
does the turning, as it does the pushing. I also
found that the front legs will help the walker turn if
it pulls more in one direction than other. Similar to
the back legs, the push more to one side. Once the
uCore is biased in a certain direction, the back leg
swing increases to one side and it begins it's turn.
Eventually the bot will end up on it's back, due to
the large amounts of leg swing. But end stops seemed
to have lessened the frequency in which this happens.
On the electronics side it's really basic. I have
found that increasing and decreasing resistor, and
capacitor values, give longer, or shorter pulse
lengths. (this is in the BEAM Tech FAQ) Anyway,
increasing the pulse length of the back motors, turns
the robot, however it is a gradual turn. Obstacle
avoidance is nearly impossible, but phototropism is
possible using this setup, and photo resistor pairs.
If you have anymore questions, and I'll be glad to
answer them.
--- Jason - wrote:
> well if u said turning your two motor walker is
> easy...why dont u just let
> us know in the list...like what controller did u use
> for it(a microcore or a
> bicore) how u influence the bot to turn like where
> did u put those
> photodiodes on to bias the input resistor and
> such...well i think all your
> reisitor and capacitor value should me mentioned
> too....and what gearmotor
> are u using ...a servo?....thanks
===
Everything I say can mean one of two things...If something I say makes you mad....I meant it the other way.
James Taylor
URL: http://fly.to/springmeadows
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