Changes between Version 26 and Version 27 of Old/Dailyupdates

Timestamp:

Jun 19, 2007, 4:41:27 PM (17 years ago)

Author:

aniket

Comment:

—

Old/Dailyupdates

@@ -21 +21 @@
 
 A complication we keep running into is that we do not have a joystick here at winlab to operate these robots, and while a joystick is not strictly required, much of the sample code assumes you have one. It is hard for us to study the sample code as we cannot see it in action. Additionally, a joystick is required to run the provided odometry calibration scripts (something we probably should have done by now). We plan to bring in some of our home gaming equipment tomorrow; Vamsi has a USB joystick and I have a USB xbox controller. Hopefully at least one of those will work and allow us to explore the sample code better.
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+== 6/19/07 - Day 12 ==
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+We now feel like we really understand IR sensor calibration. An experiment on Bender shows that some careful manipulation of resource-config.xml makes a tremendous difference in the robot's obstacle avoidance capabilities. Calibration is as follows: First, configure the (x,y,z) coordinates and roll, pitch and yaw for each sensor (remember the origin is located on the floor directly between the back wheels). Then, in the section labeled <dimensions> under <Shape id="body...>, set the parameters (x,y,z) to the center of the robot with respect to the origin, and (lx,ly,lz) are the lengths of an imaginary rectangle which should encapsulate the robot. 
+
+Once these parameters are set, obstacle avoidance works very well. It is important to make sure the sensors are in fact pointing in the directions specified under (roll,pitch,yaw).