So, the point of Larry 4.0 was to work with turning power from the motor 90 degrees. That was accomplished; although, it's a little clunky. Gravity is what holds the gears together and the delicate balance is upset by the tension of the sensor cable. Wrapping it around a post helped. Also, the torque on the motor is offset by a single pin that prevents lateral movement. Unfortunately, given the pin points available, this is the only option in this configuration.
In version 4.0, I moved the motors to a vertical configuration. This was to accommodate a smaller base as the wider base was bending in the middle, giving Larry a very broken appearance. To make the configuration work, I had to turn the motors around and negate the power values in the programming to make Larry move in the right direction - forward is back and back is forward.
There's only one other thing (right now) that I'd like to work on with Larry. In V5.0, I would like to move the little motor inboard and vertical. This will allow me to rotate the IR sensor 360 degrees. I will re-program Larry to look for a better path, not one that is just 35 degrees off center and go there. I am also considering playing with the gyroscope and moving Larry to 2 wheels only.
More to come.
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