- Autonomous control with python program.
- Used of the six proximity sensors
In this video MRPi1 robot is controled by two PID controller. The PID controller calculates an error values between motors encoders and desired value (orientation and distance).
- Orientation control
- Distance control
The speed profile :
- Trapezoid profile with 3 parts : acceleration, constant speed and deceleration.
Encoders specification :
- Magnetic encoder,
- Resolution : 12 ticks/tr