46378Re: [SeattleRobotics] Re: Accurate odometry
- Jan 2, 2012From: KM6VV
> Interesting simulation!Please do try your own algorithms.
I still don't feel I understand why dpa's version doesn't sideswipe trees
while mine does. I don't really believe his PID limits angular acceleration
as much I had to.
As Randy says, a PID achieves fastest possible closure between target
setting and actual output. I'm sure that jBot has a faster angular
acceleration than 0.5 rad/sec/sec.
Plus, I ought to try dpa's algorithms for switching to/from wall following.
> You must have a "simulation engine" or similar to write all yourA "simulation engine"? I wish.
> simulations. C language, I presume?
I write them all from scratch in Delphi. I'm one of those weirdos who
believes they can write better, faster, more reliable code, more quickly in
Delphi than in C/C++/Java. I've managed to make a few other converts but it
does have it's disadvantages to be the only person marching in step. Sigh.
It would be nice to have a "simulation engine" but they're all sufficiently
different that it's always easier to start again. Yet they're all
sufficiently similar that I find myself writing the same code over and over.
In the case of Buggy.exe, I ought to have used the nicer
compiler/interpreter I have squirrelled away somewhere but I couldn't find
it and, once again, wrote one from scratch.
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