14 |
P a g e
Slow Speed
SET THE SPEED CHANGE
START
POSITION
1
2
3
4
Slow Speed (decrease SA and set TA)
Fast Speed ( use SB & TB)
Fast Speed
to get the best time record then we need to set the speed of the robot,
when encountering a long straight line then increase the speed when it
encounters a curved line then lower the speed. For example in the previous
case from start point to encounter the curved line then in setting index 0
(i:00)
set the value of speed A
(SA)
below velocity V (example: 70) and set
the value of timer A
(TA)
so that robot use
SA speed
until finish curved line.
then set the speed B
(SB)
at high speed (example: 180) and set the timer B
(TB)
value to finish before the intersection. in index 3 use
SA
to increase
speed and
SB
to lower the speed before touching the finish line.
WHEN "TIMER A (TA)" ACTIVE THEN DETECTION "SENSOR INDEX" WILL BE
OFF, ROBOT WILL NOT DETECT THE NEXT INDEX AS "TA" ON.
DETECTION MODE "SENSOR INDEX" IS ACTIVE WHEN "TB" ACTIVE.
( use SA & TA)
( use SB & TB)
TIPS: use low PID numbers for zigzag paths and
high PID numbers for precision of robot positions
on the line.
