dead reckoning on onmi directional robot

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flyboy74
Posts: 31
Joined: Fri Jan 03, 2020 10:12 am

dead reckoning on onmi directional robot

Post by flyboy74 »

I have build an omni directional robot that can move with 3 DOF (x linear, y linear and w rotation).

I do have another video (on my youtube channel) where I explain how I work out what speed to drive which motor to give me the desired x, y, w speeds.

I have now worked out how to keep an accurate dead reckoning based upon each step of the stepper motors for each wheel. see https://www.youtube.com/watch?v=PhydxVv ... e=youtu.be

I will later make a tutorial explaining how I did it. The project runs on a STM32F407. The code is written in C that was running on the robot during this video including the RC remote code is here https://github.com/OutOfTheBots/RC_omni_robot but you can find the stripped down version that has just the robot code without the rc remote code here https://github.com/OutOfTheBots/omni_bot
mrburnette
Posts: 633
Joined: Thu Dec 19, 2019 1:23 am
Answers: 7

Re: dead reckoning on onmi directional robot

Post by mrburnette »

Awesome video.

Is the return to the "marker" completely by coordinates, or does the bot get very close and then use optical to seek the tape marker? Either way, still great rtesults.
flyboy74
Posts: 31
Joined: Fri Jan 03, 2020 10:12 am

Re: dead reckoning on onmi directional robot

Post by flyboy74 »

mrburnette wrote: Sat Aug 15, 2020 10:01 pm Awesome video.

Is the return to the "marker" completely by coordinates, or does the bot get very close and then use optical to seek the tape marker? Either way, still great rtesults.
The return is purely from counting pulses of each stepper motor.

The robot always knows where it is in x,y,w by every time any motor steps it calculates the new x,y,w that is caused by that step.
thanhcuong
Posts: 1
Joined: Wed Feb 28, 2024 4:44 pm

Re: dead reckoning on onmi directional robot

Post by thanhcuong »

flyboy74 wrote: Sat Aug 15, 2020 10:26 am I have build an omni directional robot that can move with 3 DOF (x linear, y linear and w rotation).

I do have another video (on my youtube channel) where I explain how I work out what speed to drive which motor to give me the desired x, y, w speeds.

I have now worked out how to keep an accurate dead reckoning based upon each step of the stepper motors for each wheel. see https://www.youtube.com/watch?v=PhydxVv ... e=youtu.be

I will later make a tutorial explaining how I did it. The project runs on a STM32F407. The code is written in C that was running on the robot during this video including the RC remote code is here https://github.com/OutOfTheBots/RC_omni_robot but you can find the stripped down version that has just the robot code without the rc remote code here https://github.com/OutOfTheBots/omni_bot
Can you tell me why stepper motor is used instead of dc motor? Sorry my English is not good, I hope you understand what I mean.
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