View Full Version : Steppers correction in Micromouse

11-12-2006, 07:04 PM

For a micromouse using steppers and using side-wall distance sensing method, the correction strategy is implemented by changing the relative stepping frequency of two motors depending on the offset error within the walls.

However when such a correction is used the mouse isnt travelling in a straight line and hence the normal (open loop) method of 'n' no. of pulses for 18 cm (one cell) won't apply as the distance travelled would be greater than 18 cm.

So how to keep track of when the mouse has travelled 18cm. Recalibration of distance from some front wall might be an approach. Or some really tedious calculations.

What are the options in such a case?