<div dir="ltr">Ah, I hadn't thought about using stepper motors (I've never looked into how difficult the control would be). Would this package be of any use to you? I would assume you could kludge it to work, but I don't know if it really helps.<div>
<br></div><div style>I will have to think about the holonomic controller. (I don't have access to that paper here, I'll get it later today) That will be difficult to debug because I don't have a holonomic robot. But I suppose I could use the holonomic controller on a non-holonomic robot, right?</div>
<div style><br></div><div style>-Jon </div></div><div class="gmail_extra"><br><br><div class="gmail_quote">On Wed, Feb 20, 2013 at 5:20 AM, Claudio Carbone <span dir="ltr"><<a href="mailto:cla_carbone@tiscali.it" target="_blank">cla_carbone@tiscali.it</a>></span> wrote:<br>
<blockquote class="gmail_quote" style="margin:0 0 0 .8ex;border-left:1px #ccc solid;padding-left:1ex">
<div text="#000000" bgcolor="#FFFFFF">
<div lang="x-western"> Nice work Jon.<br>
I'll check the code one of these days.<br>
In my university our diff robots are so small and cheap they have
steppers rather than encoders <span></span><br>
<br>
One thing I can think can expand your stack is a holonomic
controller:<br>
lin_spd=cos(robot_theta) *vx+sin(robot_theta)*vy;<br>
ang_spd=-( 1/d )*sin(robot_theta) *vx+(1/d)*cos(robot_theta)*vy;<br>
<br>
d being the distance from the actual drive center (the pivoting
point of the platform) along the longitudinal axis of the robot
(the forward movement axis).<br>
Then going from (lin_spd, ang_spd) to (wheel_1, wheel_2) is
trivial.<br>
<br>
Relevant article:<br>
Bilateral Teleoperation of a Formation of Nonholonomic Mobile
Robots<br>
Under Constant Time Delay<br>
Oscar M. Palafox and Mark W. Spong<br>
(can't attach here)<br>
<br>
<br>
Best regards<span class="HOEnZb"><font color="#888888"><br>
<div>-- <br>
<div>
<p><b><span style="color:#262626">Eng. Claudio
Carbone<br>
Embedded Systems Design</span></b><span style="color:#7f7f7f"><u></u>
<br>
<u></u></span></p>
<p class="MsoNormal"><span style="color:#7f7f7f">P.IVA:
11688471009<br>
tel: <a href="tel:%2B393809017424" value="+393809017424" target="_blank">+393809017424</a><br>
email: <a href="mailto:cla_carbone@tiscali.it" target="_blank"><span style="color:#7f7f7f">Send email<br>
</span></a></span><a href="http://it.linkedin.com/in/embeddedesign/en" target="_blank"><span style="text-decoration:none"><img alt="My linkedin profile" src="cid:part2.01050206.04020002@tiscali.it" height="33" width="160" border="0"></span></a></p>
<p class="MsoNormal"><span style="color:#7f7f7f">My
Portfolio</span><u></u><u></u><br>
<a href="http://www.fusioncoredesign.it/" target="_blank"><span style="text-decoration:none"><img alt="My portfolio site" src="cid:part4.04090401.06020802@tiscali.it" height="33" width="160" border="0"></span></a><u></u><u></u></p>
<p class="MsoNormal"><u></u> <u></u></p>
</div>
</div>
</font></span></div><span class="HOEnZb"><font color="#888888">
<br>
<br>
<div>-- <br>
<div>
<p><b><span style="color:#262626">Eng. Claudio
Carbone<br>
Embedded Systems Design</span></b><span style="color:#7f7f7f"><u></u>
<br>
<u></u></span></p>
<p class="MsoNormal"><span style="color:#7f7f7f">P.IVA:
11688471009<br>
tel: <a href="tel:%2B393809017424" value="+393809017424" target="_blank">+393809017424</a><br>
email: <a href="mailto:cla_carbone@tiscali.it" target="_blank"><span style="color:#7f7f7f">Send email<br>
</span></a></span><a href="http://it.linkedin.com/in/embeddedesign/en" target="_blank"><span style="text-decoration:none"><img alt="My linkedin profile" src="cid:part7.09000103.01030809@tiscali.it" height="33" width="160" border="0"></span></a></p>
<p class="MsoNormal"><span style="color:#7f7f7f">My
Portfolio</span><u></u><u></u><br>
<a href="http://www.fusioncoredesign.it/" target="_blank"><span style="text-decoration:none"><img alt="My portfolio site" src="cid:part9.00020104.01080201@tiscali.it" height="33" width="160" border="0"></span></a><u></u><u></u></p>
<p class="MsoNormal"><u></u> <u></u></p>
</div>
</div>
</font></span></div>
<br>_______________________________________________<br>
ros-users mailing list<br>
<a href="mailto:ros-users@code.ros.org">ros-users@code.ros.org</a><br>
<a href="https://code.ros.org/mailman/listinfo/ros-users" target="_blank">https://code.ros.org/mailman/listinfo/ros-users</a><br>
<br></blockquote></div><br></div>