omni directional dead reckoning
Posted: Sat Aug 15, 2020 10:25 am
I have build an omni directional robot that can move with 3 DOF (x linear, y linear and w rotation).
I do have another video (on my youtube channel) where I explain how I work out what speed to drive which motor to give me the desired x, y, w speeds.
I have now worked out how to keep an accurate dead reckoning based upon each step of the stepper motors for each wheel. see https://www.youtube.com/watch?v=PhydxVv ... e=youtu.be
I will later make a tutorial explaining how I did it. The project runs on a STM32F407. Unfortunately it wouldn't be possible to write the low level in python because of the speed needed to both generate the step pulse for 3 motors and calculate the needed dead reckoning. The code that was running on the robot during this video including the RC remote code is here https://github.com/OutOfTheBots/RC_omni_robot but you can find the stripped down version that has just the robot code without the rc remote code here https://github.com/OutOfTheBots/omni_bot
I do have another video (on my youtube channel) where I explain how I work out what speed to drive which motor to give me the desired x, y, w speeds.
I have now worked out how to keep an accurate dead reckoning based upon each step of the stepper motors for each wheel. see https://www.youtube.com/watch?v=PhydxVv ... e=youtu.be
I will later make a tutorial explaining how I did it. The project runs on a STM32F407. Unfortunately it wouldn't be possible to write the low level in python because of the speed needed to both generate the step pulse for 3 motors and calculate the needed dead reckoning. The code that was running on the robot during this video including the RC remote code is here https://github.com/OutOfTheBots/RC_omni_robot but you can find the stripped down version that has just the robot code without the rc remote code here https://github.com/OutOfTheBots/omni_bot