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Feb 15, 2015, 08:37 PM
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Path following fail






A very brief test of path following was a complete failure. Machine vision did the business, but feedback was either too fast or too slow, never able to stay on the path. Maybe the machine vision was too slow. Line following robots have done this forever, but using very fast sensors.

Maybe the feedback needed low limits. Maybe instead of continually adding an offset to the heading, it needed to add offset once when the path veered 1 way & not again until the path veered the other way. Maybe the rate of change in the path is needed.

It's much more complicated than expected, for something that's just supposed to trim steering.

Anyways, either the battery was defective, never charged, or the PI sucked a lot more power than expected, but the battery went to 8.4V & the pi died. Then the 433Mhz died. It looked like a conformal coating issue. Managed to drive it home using the phone. There were signs the phone could have the same 1 handed interface as the stick & the phone could be reasonably water resistant.
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