Jordan Perr » robotics http://jperr.com/wp A public display of my projects and thoughts. Mon, 23 Aug 2010 20:03:27 +0000 en hourly 1 http://wordpress.org/?v=3.0.1 Comparing Accelerometer and Wheel Encoder Data http://jperr.com/wp/post/114 http://jperr.com/wp/post/114#comments Fri, 18 Dec 2009 01:47:44 +0000 Jordan http://jperr.com/wp/?p=114 A necessary but mundane task of programming any vehicle’s autonomous drive system is filtering the noise out of encoder and accelerometer sensory data. To demonstrate the noisiness of our sensors to the rest of the FRC team, I decided to create visual aids using Microsoft Excel. The following graph shows both sets of data over time during smooth acceleration and deceleration.

Accelerometer and encoder data on progbot for a "smooth" driving trial.

Accelerometer and encoder data on progbot for a "smooth" driving trial.

Accelerometer and encoder data for a very rough trial with progbot. The wheels were slipping at points during this trial.

Accelerometer and encoder data for a very rough trial with progbot. The wheels were slipping at points during this trial.

]]> http://jperr.com/wp/post/114/feed 0 Pointdrive for Desbot http://jperr.com/wp/post/29 http://jperr.com/wp/post/29#comments Tue, 08 Dec 2009 03:15:37 +0000 Jordan http://jperr.com/wp/?p=29 Pointdrive is a revolutionary control system developed by me and a small team of programmers for Stuyvesant FRC’s 2007-2008 season. The system includes a bezier curve interpreter (written in C) onboard the robot’s IFI PIC18 RC unit as well as an AdobeSVG file converter on the host PC. This novel system allows drivers to literally draw the desired autonomous drive routine atop a map of the competition field, greatly reducing pre-match glitches and debugging.

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