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…reading 20 ticks before and finding the difference, will change to be more reliable soon
…be tweaking out though for no reason
…e redundant code.
…but doesn't seem too buggy
…f possible I'd want to see if I can detect the speed of the robot when it first detects a change, as then deceleration would be fairly easy to find and I can tell the exact distance moved by the bot, and then reverse that exact direction
… to be douched anymore. Next on my task should be making the robot move until both front motors cross, and getting the different in (say ticks) between their crossing. Then, I reverse the forward motor by that amount. Shouldn't be too hard (famous last words).
…lso made it so bot only stops when both front ones pass
added 23 commits
May 10, 2025 15:06
…ead of moving it continuously, stop after crossing
…ful, such that both wheels are at least turning they way they should be. They're not turning at the same time though, so I have to check that
…ARGHHH. Seems that they're just not reading properly, it might be because the ESP is trying to handle the encoder at the same time is what I'd guess.
…orrelated with complex code like PID, so when the code is very simple the light sensors work fine. Either they're not getting enough voltage when the esp is focused on other things like the light sensors, or more likely there's some issue in the code such that the light sensors can't read properly due to being say interrupted. Now I just have to actually figure out what's the issue. So once that's done, I just need to perfect the angle alignment, and after that centering is just combining everything I have together so that shouldn't be too bad (hopefully). Ima head out now
…hich is really weird, I don't think it's the lighting cause on the black fabric tiles it crashes out but on a black table it works fine. i'm guessing it has to do with how smooth the surface is, so that if it's very smooth the PID doesn't face friction. For now i'll just get my stuff done on the surface where it works. Besides that I think I made changes to the trapezoidal curve to make it work better but it seems to not really be working as well, gonna try to get that done in the next 2 hours
… removing the part of the code that kickstarts velocity, now it seems pretty stable. Going to now test angle alignment
…AINS THE EDGE GRAHHHHHH, THE TASK BOUTA GET LOW DIFFED BEFORE THE END OF MONDAY
… 2, but... it works, so who cares. Now just need to complete centering code and this task should be done
… forgotten.' - Mahd Malik on what to expect from him in the next 12 hours.
…eensy tiny issue though: the third IR blaster no worky on chessbot #4, so I can't really check the back sensors. Gonna take a break and then ask if any other robots work
…unable to get perfectly towards the target. I should try to debug that
…it seems sometimes the turn isn't exactly right, might wanna check that. Also want to see if PID really is straigtht
…the angle is way off but it only pops up rarely like a boss event or something
…each the value. For now gotta head out, besides minor bugs this task is mostly done at least
jasonappah
reviewed
May 13, 2025
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| //alright SCREW YOU serial monitor i won't print every frame then if you wanna play that game |
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this line made me audibly chuckle. nice
…t step. Now must fix a bug where the robot army-crawls.
…t when the robot army crawls, its because the velocity calculkated for each motor is rightm but its just that for one of the motors it's not really changing its position to the degree that is specified by the velocity that the trap profile returns. This is either a problem with teh PID not getting the correct motor power, or may be a problem with something like traction. I'll see what pid outputs as the motor power
…counter any errors yay
… to be reworked to be activated by command from server
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