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 gear studies megathread

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kurosen
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kurosen

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PostSubject: Re: gear studies megathread   gear studies megathread - Page 2 EmptyFri Apr 10, 2020 10:00 pm

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kurosen
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PostSubject: ev3 31313 and 45544 sets   gear studies megathread - Page 2 EmptySat Apr 11, 2020 9:32 am

ev3 31313 and 45544 sets





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kurosen
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kurosen

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PostSubject: Re: gear studies megathread   gear studies megathread - Page 2 EmptyWed Apr 22, 2020 3:41 am



stop at 50sec

Lego Freewheel & rachet Mechanism

******************************************

one output to two :

seems to use friction.

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kurosen
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kurosen

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PostSubject: Re: gear studies megathread   gear studies megathread - Page 2 EmptyThu Apr 23, 2020 3:21 am

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kurosen
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kurosen

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PostSubject: Re: gear studies megathread   gear studies megathread - Page 2 EmptyMon Apr 27, 2020 8:12 pm

bullet points learned from book : the lego mindstorms EV3 laboratory by daniel benedettelli:

ceil (truncating)

wall following bot formula :
steering = - distanceInput(constDistanceThresHold(50)-measurementTolerance(2))

getting gears to mesh together : the sum of the gear radius should to an integer
(cause assembled on a studless beam with integer size) for example :
8z 0.5 with 40z 2.5 gears

biped robot wieght shifting :
the projection of the center of mass must be within the support area of the foot that
is still on the ground

formula : computing the degrees parameter to steer precisely :
(T*L)/R
T = degrees to turn robot (rov3r model for example)
L = the distance from the tire center to the bot center
R = radius of the wheel

turn the motor 208 degrees to turn rov3r 90 degress : (90*50)/21.6

rear wheel electric differential formula :
Vr = V(1+.017D*a/H) // outer wheel
Vl = V(1-.017D*a/H)// inner wheel
v = speed
a = turn angle
D = half dist between 2 rear wheels
H = dist rear to front wheel
.017=degrees by radians (pie/180)

***************************************************

gyro

https://frobotme.wordpress.com/2014/04/29/algorithm-for-self-balancing-robot/

void loop() {
 float expectedTilt = 0;
 float currentTilt = getCurrentTilt(); // From accelerometer
 float currentTiltRate = getCurrentTiltRate(); // From gyro
 float thrust = pid(currentTilt - expectedTilt, 0, currentTilt + currentTiltRate, 0.25, 0, 0.75);

 // Apply thrust to each motor
}

Proportional – present error
The present error is the amount of tilt that the robot has. It is supposed to have a tilt of 0°.
If it is tiled by 10°, the error is -10.


terry griffin wrote:
progressively reduce kp by .05 and increase ki by.01 for thrust x till stable

float pid(error, integral, derivative, Kp, Ki, Kd) {
 return -(error * Kp + integral * Ki + derivative * Kd);
}
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kurosen
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PostSubject: Re: gear studies megathread   gear studies megathread - Page 2 EmptyTue May 12, 2020 1:09 am

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kurosen
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PostSubject: Re: gear studies megathread   gear studies megathread - Page 2 EmptyWed Jun 10, 2020 1:39 pm

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kurosen
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PostSubject: Re: gear studies megathread   gear studies megathread - Page 2 EmptyFri Jun 12, 2020 10:47 am

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kurosen
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PostSubject: Re: gear studies megathread   gear studies megathread - Page 2 EmptyFri Jun 26, 2020 9:33 am



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kurosen
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PostSubject: Re: gear studies megathread   gear studies megathread - Page 2 EmptyWed Oct 21, 2020 12:02 am







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