Tag Archives: wallie
Wallie The NavBot
Using the Zumo bot for dead reckoning was proving difficult due to its tracks. Decided to see if the original WallBot with its smaller wheels could perform better at navigation.
PID Tuning For Zumo
With the encoders working it’s time to tune the PID controller for driving in straight lines.
Building Zumo – Encoder Redux and Bluetooth
Discovered there was an alternate and simpler solution than using Trinket.
Also received a bluetooth module and put it to use.
Building Zumo – Part IV
Finally completed the Zumo build, code and all. It was way more work than I bargained for.
Ended up adding a second microprocessor (The Trinket) to handle sensor and servo functions, implemented an I2C slave and wrangled new interrupt-driven servo code.
Building Zumo – Part III
Completed the Zumo hardware side and got the encoders working but then hit a road block trying to get the motors to turn…
Data vs Reality
I’ve implemented a PID-based closed-loop system to ensure my bot travels in a straight line.
The data says it is going straight, however, in reality it seems to be deviating quite a bit.
Mighty confused.
PID Controllers 101
My first introduction to PID controllers was in an article about a robotics dead-reckoning competition which the author won using a Lego Mindstorms creation called Peeves. This was back in 2001. It’s an interesting read. I had only recently purchased my own Mindstorms set and so was very impressed with the “toy” robot beating all the […]
Wheel Encoders For WallBot
Adding wheel encoders to WallBot ended up being more work than I thought. I ended up writing all the code from scratch but it meant I learnt a lot about encoders and timer interrupts on the microcontroller.
WallBot – Version 2.5
WallBot got a new motor controller and quadrature encoders.
Integrating the new motor controller raises some software issues….
WallBot – Version 2
Next version of WallBot.
Mounted the sonic sensor onto a servo to provide better wall detection and handing. Managed to also slim down Wallie’s profile.
solderspot 