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MyRIO Robot Project |
Before get
started, you need to get familair with several things:
1.
Encoder
when we are
talking about the encoder in this project, we are actually talking
about t he little sensor locates on the rear of the moters. It is used
for counting how many rotations sonce it started. You can have more
information about the encoder we are using in this project from the PDF
provided below.
Encoder manual
2. Velocity Calculation
After you know how to use the encoder, you may want to convert
the counter value to cart speed. You can have the instructions in the
following PDF.
Velocity
and Acceleration Calculations
3. Controller Design
After you can have the cart run remotely, you may need to add
the PI controller in your code, in which case, you cart will maintain
the same speed even though it is making turns. About the controller
design, the principles are introduced in the following PDF.
Controller Design
Finally, you can write the cart program. The whole instruction of
writting the program is here.
The program should be look like this:
Close-loop
control program here.
Open-loop control program here.
