Getting started
Let's begin with some information about you| Variable name | Description |
|---|---|
| vaRPMleftOut | Actual meassured speed of the left wheel in rpm |
| vaRPMrightOut | Actual meassured speed of the right wheel in rpm |
| vaCurrentLeftOut | Actual meassured current of the left wheel in mA |
| vaCurrentRightOut | Actual meassured current of the right wheel in mA |
| xOut | Actual X coordinate of the real trajectory |
| yOut | Actual Y coordinate of the real trajectory |
| vaSpeedLeftSetp | Setpoint (speed of the left wheel) sent to controller in rpm |
| vaSpeedRightSetp | Setpoint (speed of the right wheel) sent to controller in rpm |
| vaDistanceSetp | Setpoint (desired travel distance) sent to controller in cm |
Set setpoint
vaSpeedLeftSetp [-240 240]
Current value: 0
vaSpeedRightSetp [-240 240]
Current value: 0
vaDistanceSetp [0 100]
Current value: 0
Setpoints List
| vaSpeedLeftSetp | vaSpeedRightSetp | vaDistanceSetp |
|---|
Track for the experiment
Real/Mathematical Data
| Setpoint data | Real object`s data | ||
|---|---|---|---|
| \(x_{world}\) | \(y_{world}\) | \(x_{world}\) | \(y_{world}\) |
Test your knowledge
| Test questions: |
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Please explain in your own, words why there are so much differences between data that we get from mechanism and calculations.
Q1
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Calculate the change of (x;y) coordinates, if linear speed \(V_x = 65 sm/s\) angle \(θ = 3π/4\), time step \(△t =0.1 s\).
Q2
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Calculate the rover's angular speed \(ω_x\), if speeds of the wheels \(RPMleft = 210 rpm\), \(RPMright = 120 rpm\), radius of the wheel \(R = 3.25 sm\) and rover length \(L = 16 sm\).
Q3
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Which physical characteristic was not taken into account for calculations?
Q4
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Which speed values will not be processed?
Q5
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What data is necessary to fill in the Real/Mathematical Data table?
Q6
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How is the rotation speed of motors M1 and M3 measured?
Q7
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How is the dual motor driver L298N (A5) utilized?
Q8
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What variable name is used to denote the measured speed of both wheels?
Q9
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What data can be measured using INA219 sensors (A3-A4) on each of theL298N (A5) channels?
Q10
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