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Spockie-Tech
Site Admin
Joined: 31 May 2004
Posts: 3160
Location: Melbourne, Australia
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quote:
Originally posted by Glen:
also looking at the safety checks, it mentions that your bot may go into a 'death spin' if it gets inverted with a gyro inside. NFI what that is.
A gyro is used by some competitors (especially on 2 wheel bots) to help improve the driveability by self-correcting the steering.
It basically a gadget from the RC world (originally used in helicopters) that goes between the receiver and the controller. It senses off-axis movement and if it senses the bot starting to veer sideways due to slippage (or whatever) that wasnt commanded by its servo inputs, then it modifies its servo output to the controller in the opposite direction by the amount required to bring the bot back into line.
I saw a demo of Voltronic sitting on a bench once, iff you swiveled the bot sideways without touching the sticks, the wheels spun in the opposite direction until you stopped moving it.
Supposedly they make quite a big improvement in control.
The only problem with them is that if you bot gets inverted, and the gyro isnt aware of that, then you create a positive feedback loop, where as soon as the bot starts to turn, the gyro thinks its in the wrong direction (since its now upside down), so it applies a corrective output, but of course, being upside down, its the wrong way around, so the turn gets worse, the gyro tries harder to pull it back into line, and so on, into the "gyro death spin" which you cant get out of.
So, to use a gyro in an invertible bot, you need an additional RC channel to either invert or disable the gyro's output when you are upside down. _________________ Great minds discuss ideas. Average minds discuss events. Small minds discuss people
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Sun Sep 05, 2004 1:27 am |
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