Posted 10 October 2020
After the left-wall tracking success described previously in this post, I made some more adjustments and also set up a ‘ tracking sandbox’ in my lab to test Wall-E2’s ability to detect & respond to upcoming obstacles. Here’s a short video showing Wall-E2 in action
Here’s the raw output from the run:
|
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 |
Opening port Port open Found RTC... rtc.lostPower() reports 0 Retrieving Date/Time from RTC with rtc.now() = 1602075414 Date/Time: Wednesday 10/07/2020 at 12:56:54 Found I2C FRAM Read 8273 (nextFramWriteAddr) from FRAM address 0 printing packet written to FRAM at 8263 3189426589 9 1 33 200 18120 157 Initializing MPU6050 ... Testing device connections... MPU6050 connection successful Initializing DMP... Enabling DMP... DMP ready! Waiting for MPU6050 drift rate to settle... MPU6050 Ready at 2.34 Sec IRHomingPID Parameters (Kp,Ki,Kd,DIR) = (1000.00,0.00,200.00,1) aFrontDist Init: last_incmean = 192.00, last_incvar = 13312.00 Checking Battery Voltage... Battery voltage = 7.972 *********** POST checks Skipped!!******************** Initializing Left & Right Distance Arrays... Left Right 30 105 30 105 30 105 In RotateToParallelOrientation(Left) Parallel Orientation Achieved with SteeringVal = 0.01 WallOffsetTrackPID Parameters (Kp,Ki,Kd) = (100,30,30) Msec LFront LCtr LRear Front Steer Output SetPt LSpd RSpd 2877 277 294 276 192 0.01 -2.15 0.06 77 72 3144 273 295 278 162 -0.05 -28.45 0.05 103 46 3343 272 285 266 150 0.06 23.28 0.15 51 98 3540 255 281 256 142 -0.01 -42.32 0.19 117 32 3737 264 278 259 137 0.05 -0.83 0.22 75 74 3935 271 273 257 128 0.14 11.78 0.27 63 86 4132 273 282 269 119 0.04 -46.64 0.18 121 28 4329 283 307 268 119 0.15 53.02 -0.07 21 128 4528 297 309 280 116 0.17 30.80 -0.09 44 105 4722 305 318 302 95 0.03 -21.57 -0.18 96 53 4918 304 314 305 89 -0.01 0.82 -0.14 74 75 5118 312 325 293 81 0.19 75.00 -0.25 0 150 5316 317 315 303 76 0.14 16.01 -0.15 58 91 5513 316 336 326 69 -0.10 -49.39 -0.30 124 25 5713 293 321 305 60 -0.12 5.88 -0.21 69 80 5909 282 293 282 53 0.00 31.67 0.07 43 106 6107 272 285 283 47 -0.11 -57.11 0.15 132 17 6305 264 281 265 37 -0.01 11.29 0.19 63 86 frontdist = 29, Setpoint = 0.19----Step-Turn to the Right In StepTurn(Tracking Left) In SpinTurn(CW, 90.00) 7187: Exiting SpinTurn() at -67.85 deg In RotateToParallelOrientation(Left) Parallel Orientation Achieved with SteeringVal = 0.01 WallOffsetTrackPID Parameters (Kp,Ki,Kd) = (100,30,30) Msec LFront LCtr LRear Front Steer Output SetPt LSpd RSpd 7208 200 212 199 244 0.01 -22.58 0.30 97 52 7486 207 217 185 132 0.22 55.18 0.30 19 130 7682 208 225 191 128 0.17 -28.21 0.30 103 46 7876 249 228 204 122 0.45 75.00 0.30 0 150 8072 382 320 214 116 1.68 75.00 -0.20 0 150 8269 375 279 244 245 1.31 8.18 0.21 66 83 8464 303 272 270 86 0.33 -75.00 0.28 150 0 8662 334 404 287 175 0.47 75.00 -0.30 0 150 8857 275 299 303 180 -0.28 -75.00 0.01 150 0 9054 257 293 266 131 -0.09 51.29 0.07 23 126 9251 241 262 252 118 -0.11 -37.94 0.30 112 37 9449 237 254 235 112 0.02 19.22 0.30 55 94 9646 229 255 228 101 0.01 -24.65 0.30 99 50 9843 213 235 217 156 -0.04 -42.67 0.30 117 32 10041 211 227 212 58 -0.01 -16.60 0.30 91 58 10241 210 225 202 39 0.08 9.74 0.30 65 84 frontdist = 29, Setpoint = 0.30----Step-Turn to the Right In StepTurn(Tracking Left) In SpinTurn(CW, 90.00) 11202: Exiting SpinTurn() at -160.23 deg In RotateToParallelOrientation(Left) Parallel Orientation Achieved with SteeringVal = -0.01 WallOffsetTrackPID Parameters (Kp,Ki,Kd) = (100,30,30) Msec LFront LCtr LRear Front Steer Output SetPt LSpd RSpd 12066 212 226 213 220 -0.01 -54.19 0.30 129 20 12216 216 228 211 207 0.05 -3.94 0.30 78 71 12412 225 240 214 197 0.11 1.49 0.30 73 76 12608 239 249 223 188 0.13 -9.02 0.30 84 65 12808 232 255 228 178 0.04 -51.80 0.30 126 23 13003 210 219 219 171 -0.09 -75.00 0.30 150 0 13202 246 238 201 190 0.45 75.00 0.30 0 150 13399 289 277 234 257 0.55 63.44 0.23 11 138 13594 291 289 264 153 0.27 -66.08 0.11 141 8 13790 296 314 281 143 0.15 -4.21 -0.14 79 70 13985 316 312 296 137 0.20 50.75 -0.12 24 125 14181 328 344 322 128 0.06 -1.17 -0.30 76 73 14374 329 329 325 122 0.04 32.82 -0.29 42 107 14569 332 348 320 113 0.12 73.08 -0.30 1 148 14766 335 360 329 107 0.06 26.16 -0.30 48 101 14963 345 354 337 100 0.08 53.30 -0.30 21 128 15161 342 351 361 98 -0.19 -60.37 -0.30 135 14 15358 335 356 333 89 0.02 75.00 -0.30 0 150 15555 304 334 325 83 -0.21 -49.14 -0.30 124 25 15753 295 317 309 77 -0.14 34.95 -0.17 40 109 15950 274 292 286 71 -0.12 -3.65 0.08 78 71 16150 259 265 262 63 -0.03 3.36 0.30 71 78 16350 236 255 248 52 -0.12 -60.90 0.30 135 14 16546 226 246 225 44 0.01 17.23 0.30 57 92 16746 217 234 209 36 0.08 5.57 0.30 69 80 frontdist = 29, Setpoint = 0.30----Step-Turn to the Right In StepTurn(Tracking Left) In SpinTurn(CW, 90.00) 17654: Exiting SpinTurn() at 115.78 deg In RotateToParallelOrientation(Left) Parallel Orientation Achieved with SteeringVal = 0.01 WallOffsetTrackPID Parameters (Kp,Ki,Kd) = (100,30,30) Msec LFront LCtr LRear Front Steer Output SetPt LSpd RSpd 18280 119 139 118 192 0.01 -44.30 0.30 119 30 18523 130 145 119 158 0.11 16.13 0.30 58 91 18720 135 153 126 160 0.09 -22.50 0.30 97 52 18917 166 166 136 153 0.30 67.50 0.30 7 142 19113 237 241 149 144 0.88 75.00 0.30 0 150 19309 303 252 235 136 0.68 -14.62 0.30 89 60 19507 331 317 240 128 0.91 75.00 -0.17 0 150 19703 337 358 291 124 0.46 -46.10 -0.30 121 28 19901 340 352 317 122 0.23 -1.51 -0.30 76 73 20099 336 336 321 121 0.15 36.84 -0.30 38 111 20294 347 356 334 121 0.13 54.13 -0.30 20 129 20492 352 335 337 120 0.15 69.48 -0.30 5 144 20687 331 334 331 120 0.00 4.38 -0.30 70 79 20884 325 356 328 121 -0.03 38.19 -0.30 36 113 21083 341 327 335 123 0.06 75.00 -0.27 0 150 21280 334 332 335 123 -0.01 30.05 -0.30 44 105 21478 350 329 335 123 0.15 75.00 -0.29 0 150 21673 342 350 346 122 -0.04 -6.85 -0.30 81 68 21868 341 350 338 122 0.03 75.00 -0.30 0 150 22066 335 342 331 123 0.04 63.16 -0.30 11 138 22263 332 346 335 121 -0.03 32.97 -0.30 42 107 22460 333 329 342 122 -0.09 29.57 -0.29 45 104 22658 343 339 326 122 0.17 75.00 -0.30 0 150 22855 347 347 334 123 0.13 61.27 -0.30 13 136 23051 331 336 335 122 -0.04 6.05 -0.30 68 81 23249 340 342 344 123 -0.04 57.83 -0.30 17 132 23445 346 347 327 123 0.19 75.00 -0.30 0 150 23644 336 328 341 122 -0.05 -15.01 -0.28 90 59 aFrontDist Init: last_incmean = 192.00, last_incvar = 13312.00 ---- Backup & Turn to the Right In SpinTurn(CW, 90.00) 25789: Exiting SpinTurn() at 70.60 deg ---- After Backup & Turn with prevmode = None ---- Backup & Turn to the Right In SpinTurn(CW, 90.00) 27755: Exiting SpinTurn() at -48.10 deg ---- After Backup & Turn with prevmode = None I received: 63 ENTERING COMMAND MODE: 0 = 180 deg CCW Turn 1 = 180 deg CW Turn A = Back to Auto Mode S = Stop F = Forward R = Reverse Faster 8 Left 4 5 6 Right 2 Slower |
And here is an Excel plot of just the movement sections of the above, highlighting the avoidance maneuvers.
Comparing the Excel plot to to the video, the front distance plot shows a monotonically decreasing value and then a large jump after each obstacle avoidance turn. It appears that the robot acquires and tracks the 30cm offset target successfully on the first wall, but doesn’t do as well on the second one. It was much more successful on the third wall. The plot for the last wall is only about 2 seconds long.
All in all, this looks like a pretty successful run for Wall-E2. It tracked three different walls (the fourth wall was too short to track) and successfully avoided obstacles three times – woo hoo!
12 October 2020 Update:
On the above ‘sandbox’ run, I noticed that at the end of the third leg at about 14 seconds into the run, the ‘spin turn’ at the white foam core wall wasn’t a ‘step turn’, but a ‘backup and turn’ triggered by the front distance going below the front obstacle limit of 20 cm, rather than the tracking obstacle clearance limit of 30 cm. Here are two output lines that illustrate the difference
|
1 2 3 |
16746 217 234 209 36 0.08 5.57 0.30 69 80 frontdist = 29, Setpoint = 0.30----Step-Turn to the Right In StepTurn(Tracking Left) |
and
|
1 2 3 |
23644 336 328 341 122 -0.05 -15.01 -0.28 90 59 aFrontDist Init: last_incmean = 192.00, last_incvar = 13312.00 ---- Backup & Turn to the Right |
In the video, these events are at about 7 & 14 seconds respectively. From this I came to the conclusion that at least the front distance wasn’t getting updated enough to keep the robot from getting too close to the obstacle before it realized there was a problem. At the time, the update rate for the system was set at 5Hz or 200 mSec. If the robot is travelling at 50 cm/sec, it means that it will travel 10 cm between distance updates – ouch!
So, I changed the timer interrupt timeout value for a 10Hz rate, and ran the ‘sandbox’ run again. This time when I looked at the output I could see that each leg terminated with something like
|
1 2 3 4 |
frontdist = 29, Setpoint = 0.29----Step-Turn to the Right In StepTurn(Tracking Left) In SpinTurn(CW, 90.00) 20079: Exiting SpinTurn() at 22.67 deg |
and it was clear that the updates were happening about every 100 mSec. Here’s the output:
|
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179 180 181 182 183 184 185 186 187 188 189 190 191 192 193 194 195 196 197 198 199 200 201 202 203 204 205 206 207 208 209 210 211 212 213 214 215 216 217 218 |
Opening port Port open Found RTC... rtc.lostPower() reports 0 Retrieving Date/Time from RTC with rtc.now() = 1602261730 Date/Time: Friday 10/09/2020 at 16:42:10 Found I2C FRAM Read 8273 (nextFramWriteAddr) from FRAM address 0 printing packet written to FRAM at 8263 3189426589 9 1 33 200 18120 157 Initializing MPU6050 ... Testing device connections... MPU6050 connection successful Initializing DMP... Enabling DMP... DMP ready! Waiting for MPU6050 drift rate to settle... MPU6050 Ready at 2.34 Sec IRHomingPID Parameters (Kp,Ki,Kd,DIR) = (1000.00,0.00,200.00,1) aFrontDist Init: last_incmean = 192.00, last_incvar = 13312.00 Checking Battery Voltage... Battery voltage = 7.801 *********** POST checks Skipped!!******************** Initializing Left & Right Distance Arrays... Left Right 48 819 48 819 48 819 In RotateToParallelOrientation(Left) Parallel Orientation Achieved with SteeringVal = 0.01 WallOffsetTrackPID Parameters (Kp,Ki,Kd) = (100,30,30) Msec LFront LCtr LRear Front Steer Output SetPt LSpd RSpd 2893 413 430 412 165 0.01 34.93 -0.30 40 109 2905 409 415 402 165 0.07 34.93 -0.30 40 109 2932 398 426 411 167 0.04 34.93 -0.30 40 109 3031 429 467 443 116 -0.14 -27.59 -0.30 102 47 3128 454 469 484 86 -0.30 -27.59 -0.30 102 47 3224 436 464 472 83 -0.36 -70.77 -0.30 145 4 3319 423 446 466 87 -0.43 -70.77 -0.30 145 4 3420 380 399 402 109 -0.22 51.47 -0.30 23 126 3516 357 395 373 146 -0.21 51.47 -0.30 23 126 3614 347 372 374 141 -0.27 -10.44 -0.30 85 64 3712 340 365 360 124 -0.14 -10.44 -0.30 85 64 3807 324 347 344 118 -0.20 32.86 -0.30 42 107 3904 316 347 341 116 -0.18 32.86 -0.30 42 107 4003 314 341 330 113 -0.16 28.28 -0.30 46 103 4099 303 344 323 95 -0.16 28.28 -0.30 46 103 4197 299 322 322 87 -0.23 -19.75 -0.22 94 55 4295 288 311 311 83 -0.20 -19.75 -0.11 94 55 4393 273 310 296 84 -0.23 -11.14 -0.10 86 63 4491 256 298 286 87 -0.30 -11.14 0.02 86 63 4588 254 292 279 87 -0.25 -38.13 0.08 113 36 4689 239 269 257 86 -0.15 -15.48 0.30 90 59 4786 229 259 248 96 -0.19 -15.48 0.30 90 59 4884 210 245 232 104 -0.22 -75.00 0.30 150 0 4982 205 238 216 98 -0.11 -75.00 0.30 150 0 5079 196 220 199 92 -0.03 20.97 0.30 54 95 5174 193 220 187 87 0.06 20.97 0.30 54 95 5271 194 209 189 84 0.05 -4.78 0.30 79 70 5369 194 219 191 81 0.03 -4.78 0.30 79 70 5466 205 215 197 78 0.08 -17.44 0.30 92 57 5565 201 222 199 75 0.02 -17.44 0.30 92 57 5661 203 224 197 73 0.06 -35.16 0.30 110 39 5755 210 222 200 70 0.10 -35.16 0.30 110 39 5854 208 223 200 69 0.08 -21.82 0.30 96 53 5949 220 227 209 65 0.11 -21.82 0.30 96 53 6048 228 251 212 62 0.16 3.76 0.30 71 78 6146 234 254 211 56 0.23 3.76 0.30 71 78 6242 247 251 224 52 0.23 7.55 0.30 67 82 6337 252 261 225 48 0.26 7.55 0.30 67 82 6434 256 274 237 45 0.19 -25.66 0.26 100 49 6533 270 274 245 45 0.25 -25.66 0.26 100 49 6632 285 291 254 38 0.31 52.00 0.09 23 127 6731 290 290 260 35 0.29 52.00 0.10 23 127 6830 303 299 265 31 0.38 53.11 0.01 21 128 frontdist = 29, Setpoint = 0.01----Step-Turn to the Right In StepTurn(Tracking Left) In SpinTurn(CW, 90.00) 7732: Exiting SpinTurn() at -78.07 deg In RotateToParallelOrientation(Left) Parallel Orientation Achieved with SteeringVal = 0.00 WallOffsetTrackPID Parameters (Kp,Ki,Kd) = (100,30,30) Msec LFront LCtr LRear Front Steer Output SetPt LSpd RSpd 8589 216 238 216 97 0.00 -75.00 0.30 150 0 8599 218 236 211 97 0.07 -75.00 0.30 150 0 8687 229 241 214 91 0.15 -75.00 0.30 150 0 8784 230 243 220 85 0.11 7.64 0.30 67 82 8883 239 257 226 81 0.13 7.64 0.30 67 82 8982 246 259 232 78 0.16 -5.78 0.30 80 69 9080 259 274 244 75 0.15 -5.78 0.26 80 69 9179 272 286 253 72 0.19 7.37 0.14 67 82 9275 277 290 252 67 0.25 7.37 0.10 67 82 9376 285 297 266 63 0.19 9.85 0.03 65 84 9473 295 299 271 57 0.24 9.85 0.01 65 84 9569 300 305 277 55 0.26 46.78 -0.05 28 121 9669 303 315 274 51 0.29 49.10 -0.15 25 124 9766 306 318 292 49 0.14 49.10 -0.18 25 124 9864 308 329 295 44 0.13 -8.64 -0.29 83 66 9961 313 323 292 37 0.21 -8.64 -0.23 83 66 10059 302 334 290 33 0.12 37.62 -0.30 37 112 10157 309 321 303 29 0.06 37.62 -0.21 37 112 frontdist = 26, Setpoint = -0.21----Step-Turn to the Right In StepTurn(Tracking Left) In SpinTurn(CW, 90.00) 10989: Exiting SpinTurn() at -162.26 deg In RotateToParallelOrientation(Left) Parallel Orientation Achieved with SteeringVal = 0.01 WallOffsetTrackPID Parameters (Kp,Ki,Kd) = (100,30,30) Msec LFront LCtr LRear Front Steer Output SetPt LSpd RSpd 11272 192 214 191 224 0.01 -64.25 0.30 139 10 11282 193 203 189 224 0.04 -64.25 0.30 139 10 11319 192 211 188 219 0.04 -64.25 0.30 139 10 11414 195 220 185 247 0.10 4.15 0.30 70 79 11512 208 216 188 220 0.20 4.15 0.30 70 79 11610 214 223 194 217 0.20 16.85 0.30 58 91 11707 216 229 195 212 0.21 16.85 0.30 58 91 11803 219 227 205 208 0.14 -37.63 0.30 112 37 11896 223 243 208 203 0.15 -37.63 0.30 112 37 11992 236 251 220 201 0.16 -12.05 0.30 87 62 12087 244 255 218 200 0.26 -12.05 0.30 87 62 12181 263 267 220 197 0.40 75.00 0.30 0 150 12278 282 276 236 193 0.46 75.00 0.24 0 150 12377 282 298 237 185 0.45 55.54 0.02 19 130 12471 280 298 256 171 0.24 55.54 0.02 19 130 12566 282 309 277 178 0.05 -75.00 -0.09 150 0 12661 297 304 285 154 0.12 -75.00 -0.04 150 0 12759 278 304 285 231 -0.07 -41.13 -0.04 116 33 12856 270 289 274 162 -0.04 -41.13 0.11 116 33 12953 260 287 257 160 0.03 17.57 0.13 57 92 13052 270 290 257 160 0.13 17.57 0.10 57 92 13148 270 277 252 166 0.18 37.42 0.23 37 112 13243 274 275 253 150 0.21 37.42 0.25 37 112 13339 270 293 267 143 0.03 -51.70 0.07 126 23 13437 279 289 275 140 0.04 -51.70 0.11 126 23 13532 278 293 259 138 0.19 57.66 0.07 17 132 13630 277 307 263 208 0.14 57.66 -0.07 17 132 13728 287 299 269 133 0.18 12.17 0.01 62 87 13827 278 305 274 129 0.04 12.17 -0.05 62 87 13924 285 295 276 123 0.09 -24.71 0.05 99 50 14021 282 288 285 121 -0.03 -24.71 0.12 99 50 14118 275 303 274 116 0.01 -21.59 -0.03 96 53 14219 282 301 270 117 0.12 44.80 -0.01 30 119 14319 289 295 268 111 0.21 42.28 0.05 32 117 14416 297 308 289 108 0.08 42.28 -0.08 32 117 14514 296 317 285 103 0.11 -1.88 -0.17 76 73 14610 300 320 284 101 0.16 -1.88 -0.20 76 73 14707 306 319 291 97 0.15 47.14 -0.19 27 122 14803 302 324 292 93 0.15 47.14 -0.24 27 122 14901 300 332 309 90 -0.09 -49.23 -0.30 124 25 14996 307 330 300 87 0.03 -49.23 -0.30 124 25 15094 303 310 305 84 -0.02 31.01 -0.10 43 106 15192 298 316 285 81 0.13 31.01 -0.16 43 106 15289 295 313 293 76 0.02 29.46 -0.13 45 104 15387 299 313 284 73 0.13 29.46 -0.13 45 104 15486 297 310 297 71 0.00 6.76 -0.10 68 81 15583 290 307 295 69 0.02 6.76 -0.07 68 81 15682 284 296 296 66 -0.12 -49.72 0.04 124 25 15778 296 309 290 63 0.06 -49.72 -0.09 124 25 15876 295 298 289 59 0.06 60.40 0.02 14 135 15972 284 307 278 56 0.06 60.40 -0.07 14 135 16070 293 313 287 53 0.06 21.97 -0.13 53 96 16168 299 300 284 46 0.15 21.97 0.00 53 96 16267 291 321 294 45 -0.03 -5.49 -0.21 80 69 16367 306 327 294 42 0.12 -5.49 -0.27 80 69 16466 299 318 290 39 0.09 67.32 -0.18 7 142 16563 301 301 294 41 0.07 67.32 -0.01 7 142 frontdist = 26, Setpoint = -0.01----Step-Turn to the Right In StepTurn(Tracking Left) In SpinTurn(CW, 90.00) 17314: Exiting SpinTurn() at 116.67 deg In RotateToParallelOrientation(Left) Parallel Orientation Achieved with SteeringVal = -0.01 WallOffsetTrackPID Parameters (Kp,Ki,Kd) = (100,30,30) Msec LFront LCtr LRear Front Steer Output SetPt LSpd RSpd 17482 182 213 183 207 -0.01 -57.61 0.30 132 17 17492 187 215 174 207 0.13 -57.61 0.30 132 17 17527 184 213 172 209 0.12 -57.61 0.30 132 17 17624 203 218 180 131 0.23 68.18 0.30 6 143 17723 360 276 186 113 1.74 68.18 0.24 6 143 17821 425 361 208 129 2.15 75.00 -0.30 0 150 17916 451 335 211 120 2.40 75.00 -0.30 0 150 18016 514 326 188 194 3.36 75.00 -0.26 0 150 18111 374 310 239 75 1.35 75.00 -0.10 0 150 18209 290 313 276 196 0.14 -75.00 -0.13 150 0 18306 259 8191 8191 202 -79.32 -75.00 -0.30 150 0 18401 309 309 8191 197 -78.93 -75.00 -0.09 150 0 18498 350 367 275 181 0.75 -75.00 -0.30 150 0 18594 252 283 419 59 -1.67 75.00 0.17 0 150 18693 238 256 240 169 -0.02 75.00 0.30 0 150 18786 242 257 239 169 0.00 75.00 0.30 0 150 18883 249 258 240 72 0.09 75.00 0.30 0 150 18981 249 272 258 42 -0.17 -75.00 0.28 150 0 19079 254 286 261 42 -0.07 -75.00 0.14 150 0 19177 240 271 259 34 -0.21 -75.00 0.29 150 0 frontdist = 29, Setpoint = 0.29----Step-Turn to the Right In StepTurn(Tracking Left) In SpinTurn(CW, 90.00) 20079: Exiting SpinTurn() at 22.67 deg I received: 63 ENTERING COMMAND MODE: 0 = 180 deg CCW Turn 1 = 180 deg CW Turn A = Back to Auto Mode S = Stop F = Forward R = Reverse Faster 8 Left 4 5 6 Right 2 Slower |
and a short video:
And an Excel plot showing the left wall and forward distances progressing through the run.
At this point, I’m pretty happy with Wall-E2’s new-found wall tracking superpowers, at least for the left wall case. Now I need to port the V7 left-side-only code back into the main program and also port it to the right wall case.
Stay tuned!
Frank
Pingback: Adding a VL53L0X Rear Distance Sensor to Wall-E2 | Paynter's Palace
Pingback: Charging Station Initial Approach Algorithm Improvement | Paynter's Palace
Pingback: Another Try at Wall Offset Tracking | Paynter's Palace