diff --git a/architecture/hardware2020/index.html b/architecture/hardware2020/index.html index 2f7343bc..e6381999 100644 --- a/architecture/hardware2020/index.html +++ b/architecture/hardware2020/index.html @@ -6,7 +6,7 @@ 2020 hardware architecture - CVRA Robot Software - + diff --git a/architecture/history/index.html b/architecture/history/index.html index aa0e0cb3..79d9b0e1 100644 --- a/architecture/history/index.html +++ b/architecture/history/index.html @@ -6,7 +6,7 @@ History & Design - CVRA Robot Software - + diff --git a/architecture/life-of-a-motion/index.html b/architecture/life-of-a-motion/index.html index 72ef2198..018d235e 100644 --- a/architecture/life-of-a-motion/index.html +++ b/architecture/life-of-a-motion/index.html @@ -6,7 +6,7 @@ Life of a motion - CVRA Robot Software - + diff --git a/can/adapter/index.html b/can/adapter/index.html index 3cd8e17c..15af4be3 100644 --- a/can/adapter/index.html +++ b/can/adapter/index.html @@ -6,7 +6,7 @@ CAN USB adapter - CVRA Robot Software - + diff --git a/can/beacon/index.html b/can/beacon/index.html index 3d667d92..be99c671 100644 --- a/can/beacon/index.html +++ b/can/beacon/index.html @@ -6,7 +6,7 @@ Beacon board - CVRA Robot Software - + diff --git a/can/bootloader/index.html b/can/bootloader/index.html index 5f2b16bd..e58011cd 100644 --- a/can/bootloader/index.html +++ b/can/bootloader/index.html @@ -6,7 +6,7 @@ CAN bootloader - CVRA Robot Software - + diff --git a/can/intro/index.html b/can/intro/index.html index a4525a79..8c12294e 100644 --- a/can/intro/index.html +++ b/can/intro/index.html @@ -6,7 +6,7 @@ CAN Ecosystem - CVRA Robot Software - + @@ -151,7 +151,7 @@

- +
Motor board
@@ -159,7 +159,7 @@

- +
IO board
@@ -169,7 +169,7 @@

- +
Sensor board
@@ -177,7 +177,7 @@

- +
Beacon board
@@ -187,7 +187,7 @@

- +
CAN adapter
@@ -195,7 +195,7 @@

- +
CAN bootloader
diff --git a/can/io/index.html b/can/io/index.html index 817b7260..ac4e02fb 100644 --- a/can/io/index.html +++ b/can/io/index.html @@ -6,7 +6,7 @@ IO board - CVRA Robot Software - + diff --git a/can/motor/index.html b/can/motor/index.html index 8a772bfd..002728f8 100644 --- a/can/motor/index.html +++ b/can/motor/index.html @@ -6,7 +6,7 @@ Motor board - CVRA Robot Software - + diff --git a/can/positioning/index.html b/can/positioning/index.html index c8c0d473..8197382f 100644 --- a/can/positioning/index.html +++ b/can/positioning/index.html @@ -6,7 +6,7 @@ Positioning system - CVRA Robot Software - + diff --git a/can/sensor/index.html b/can/sensor/index.html index bd343d6b..c220bd53 100644 --- a/can/sensor/index.html +++ b/can/sensor/index.html @@ -6,7 +6,7 @@ Sensor board - CVRA Robot Software - + diff --git a/design/linux-master/index.html b/design/linux-master/index.html index 3d3e4e6e..f05d7476 100644 --- a/design/linux-master/index.html +++ b/design/linux-master/index.html @@ -6,7 +6,7 @@ Master firmware on Linux - CVRA Robot Software - + diff --git a/howto/add_a_uavcan_message/index.html b/howto/add_a_uavcan_message/index.html index 0daa565b..09a6e589 100644 --- a/howto/add_a_uavcan_message/index.html +++ b/howto/add_a_uavcan_message/index.html @@ -6,7 +6,7 @@ Handle new UAVCAN data types - CVRA Robot Software - + diff --git a/howto/calibrate-odometry/index.html b/howto/calibrate-odometry/index.html index 684a4455..9a1fcdea 100644 --- a/howto/calibrate-odometry/index.html +++ b/howto/calibrate-odometry/index.html @@ -6,7 +6,7 @@ Calibrate the odometry - CVRA Robot Software - + @@ -200,9 +200,9 @@

Wheel diameter difference calibra // distance (0.5 * (left_pulse * left_gain + right_pulse * right_gain)). // delta_angle is the difference between the pulse count of the left wheel // and the right wheel, also taking wheel gain into account. -float factor = delta_angle / total_distance; -float new_left_gain = (1. + factor) * old_left_gain; -float new_right_gain = (1. - factor) * old_right_gain; +float factor = delta_angle / total_distance; +float new_left_gain = (1. + factor) * old_left_gain; +float new_right_gain = (1. - factor) * old_right_gain;

Once you have a rough working estimation, you can repeat the measurement but repeating steps 3 to 6 a few times to increase the error. @@ -211,7 +211,7 @@

Wheel diameter difference calibra

Number of encoder steps per mm

This step is quite trivial to do: we ask the robot to move forward for 2 meters and we measure the real distance it moved. We can then compute the new number of pulses using:

-
new_pulse_per_mm = old_pulse_per_mm * (real_distance / asked_distance);
+
new_pulse_per_mm = old_pulse_per_mm * (real_distance / asked_distance);
 

 
 
This method is accurate to about 0.1% (2 mm over 2 meters), but it is also the least important parameter here.

@@ -227,7 +227,7 @@ 
Track of the robot

 
 
You can now compute the new track of the robot using the angle measured by the odometry:

 
// count = number of turns done by the robot, start with 1
-float new_track = old_track * (1 + (delta_angle / (2. * M_PI * count)));
+float new_track = old_track * (1 + (delta_angle / (2. * M_PI * count)));
 

 
 
Once calibrated you can restart the experiment and do more than one full turn, we usually stop at 10 turns.

diff --git a/howto/install_arm_gcc/index.html b/howto/install_arm_gcc/index.html
index 5875f0fc..343a7b4e 100644
--- a/howto/install_arm_gcc/index.html
+++ b/howto/install_arm_gcc/index.html
@@ -6,7 +6,7 @@
 Install the ARM compiler - CVRA Robot Software
 
 
-
+
 
 
 
diff --git a/index.html b/index.html
index a60ebbc7..116d14b7 100644
--- a/index.html
+++ b/index.html
@@ -6,7 +6,7 @@
 Home - CVRA Robot Software
 
 
-
+
 
 
 
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