Updating and Reconfiguring AmigoSH
SIPCYCLE
byte
100 Server information packet cycle time in 1 ms
increments. Default is classic 100 ms.
WATCHDOG
int
2000 Ms time before robot automatically stops if it
has not received a command from a client.
Restarts on restoration of connection.
SOUNDTOG
byte
1 0 disables the buzzer
SONARCYCLE
byte
40 Sonar cycle time in milliseconds
SONAR
1
str
12345678 Ping sequence for sonar array #1. Up to 16
number characters 1-8; 0 to disable the array
HASGYRO
byte
0 Set to 1 if you have the gyro accessory
TCM
2
byte
0 TCM2 module, if connected, specify AUX port
1,2, or 3
LCD
byte
0 Aux port number of attached LCD module
STALLVAL
int
400 Maximum PWM before stall. If > PwmMax, never.
STALLCOUNT
int
200 Ms time after a stall for recovery. Motors not
engaged during this time.
PWMMAX
int
500 Maximum motor PWM (500 maximum).
ROTVELTOP
int
360 Maximum rotation velocity; deg/sec
TRANSVELTOP
int
1074 Maximum translation speed; mm/sec
ROTACCTOP
int
324 Maximum rotation (de)acceleration; deg/sec
2
TRANSACCTOP
int
1000 Maximum translation (de)acceleration; mm/sec
2
ROTVELMAX
int
324 Max rotation speed; deg/sec.
TRANSVELMAX
int
1000 Max translation speed; mm/sec.
ROTACC
int
162 Rotation acceleration; deg/sec
2
ROTDECEL
int
162 Rotation deceleration; deg/sec
2
ROTKP
int
23 Proportional PID for rotation
ROTKV
int
3 Differential PID for rotation
ROTKI
int
0 Integral PID for rotation
TRANSACC
int
500 Translation acceleration; mm/sec
2
TRANSDECEL
int
500 Translation deceleration; mm/sec
2
TRANSKP
int
42 Proportional PID for translation
TRANSKV
int
3 Differential PID for translation
TRANSKI
int
0 Integral PID for translation
PID P
ARAMETERS
The AmigoSH configuration parameters include settings for the PID motor controls for
translation and rotation of the robot. The translation values also are used for
independent-wheel mode. The default values are for a lightly loaded robot. Experiment
with different values to improve the performance of your robot in its current environment.
The Proportional PID (Kp) values control the responsiveness of your robot. Lower values
make for a slower system; higher values make the robot "zippier", but can lead to
overshoot and oscillation.
The Derivative PID (Kv) dampens oscillation and overshoot. Increasing values gives
better control of oscillation and overshoot, but they also make the robot’s movements
more sluggish.
The Integral PID (Ki) adjusts residual error in turning and velocity. Higher values make the
robot correct increasingly smaller errors between its desired and actual angular position
and speed.
D
RIFT
F
ACTOR
, T
ICKSMM
,
AND
R
EV
C
OUNT
AmigoSH uses the
ticksMM
and
revCount
parameters to convert your platform-
independent speed and rotation commands—typically expressed in millimeters or
degrees, respectively—into platform-dependent units. And it uses the
driftFactor
to
compensate for tire difference.
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