rp6base_move_03.c

RP6机器人范例程序。包括移动

/* 
 * ****************************************************************************
 * RP6 ROBOT SYSTEM - ROBOT BASE EXAMPLES
 * ****************************************************************************
 * Example: Movement 3
 * Author(s): Dominik S. Herwald
 * ****************************************************************************
 * Description:
 *
 * The Robot moves in a Rectangle and changes direction after each cycle.
 * It does not react on any obstacles!
 *
 * You need to calibrate the RP6 Encoder resolution and rotation factors 
 * and set them in the File "RP6Config.h" in the RP6Library folder.
 * Otherwise the angles will not even be roughly accurate.
 *
 * Even with calibration the robot will not drive in an accurate rectangle, 
 * there will always be errors - more or less. On the first cycle you will not 
 * notice too big errors, but latest after the third cycle you will see that 
 * the robot is several cm away from the intended path and the angle is 
 * not accurate.
 *
 * THIS IS NORMAL! Tracked drive systems always have some wheel/tracks slippery
 * and thus the driven distance is often not the distance the encoders have
 * measured. This depends on surface - it will not work that well on any 
 * slippery surfaces!  
 *
 * This is an accumulative error - if one rotation is wrong by 1