Tutorials/Arduino Projects/Additional Info/Turning Calculations - Revision history

Pgp90 at 18:51, 8 August 2012

2012-08-08T18:51:05Z

Pgp90: /* Differential Steering */

2012-08-08T18:39:39Z

Differential Steering

Pgp90: /* Differential Steering */

2012-07-30T15:36:32Z

Differential Steering

Pgp90 at 15:02, 30 July 2012

2012-07-30T15:02:42Z

Pgp90 at 14:42, 30 July 2012

2012-07-30T14:42:04Z

Pgp90 at 18:58, 26 June 2012

2012-06-26T18:58:16Z

Pgp90 at 18:57, 26 June 2012

2012-06-26T18:57:56Z

Pgp90 at 13:30, 25 June 2012

2012-06-25T13:30:19Z

Pgp90 at 18:30, 22 June 2012

2012-06-22T18:30:35Z

Pgp90: Created page with "{{DISPLAYTITLE:Turning calculations}} Tutorials/Arduino_Projects/Mobile_Robotics/BoeBot/Turning|Making the robot turn (BoeBot)
2012-06-22T18:28:44Z

Created page with "{{DISPLAYTITLE:Turning calculations}} <yambe:breadcrumb self="Turning calculations">Tutorials/Arduino_Projects/Mobile_Robotics/BoeBot/Turning|Making the robot turn (BoeBot)</y..."

New page
{{DISPLAYTITLE:Turning calculations}}
<yambe:breadcrumb self="Turning calculations">Tutorials/Arduino_Projects/Mobile_Robotics/BoeBot/Turning|Making the robot turn (BoeBot)</yambe:breadcrumb>
<yambe:breadcrumb self="Turning calculations">Tutorials/Arduino_Projects/Mobile_Robotics/Vex/Turning|Making the robot turn (VEX)</yambe:breadcrumb>
<yambe:breadcrumb self="Turning calculations">Tutorials/Arduino_Projects/Mobile_Robotics/Lego/Turning|Making the robot turn (Lego)</yambe:breadcrumb>
<yambe:breadcrumb self="Turning calculations">Tutorials/Arduino_Projects/Mobile_Robotics/Tetrix/Turning|Making the robot turn (Tetrix)</yambe:breadcrumb>
{{tl|1|}}

@@ Line 14: / Line 14: @@
 [[image:Differential_Steering_Graphic_4_wheels.png|thumb|c|center|400px|]]
 [[image:Differential_Steering_Graphic_2_wheels.png|thumb|c|center|400px|]]
-[[image:Differental_Steering_R_Equation.png|center|]]
+[[image:Differential_Steering_R_Equation.png|center|]]
-[[image:Differental_Steering_V_Equation.png|center|]]
+[[image:Differential_Steering_V_Equation.png|center|]]
-[[image:Differental_Steering_VL_Equation.png|center|]]
+[[image:Differential_Steering_VL_Equation.png|center|]]
-[[image:Differental_Steering_VR_Equation.png|center|]]
+[[image:Differential_Steering_VR_Equation.png|center|]]
-== Akerman Steering ==
+== Ackermann Steering ==
-Akerman steering is the steering system used in just about every automobile. Normally the center point is located between a pair of fixed wheels. However this system can have the "center point" located anywhere you want. We will define the distance from the center point to the wheel length-wise as H. We will also define the turning radius as R. We will define the angle of the left and right wheels as Θ<sub>L</sub> and Θ<sub>R</sub> respectively. We will also define W as the distance between the wheels on each side.
+Ackermann steering is the steering system used in just about every automobile. Normally the center point is located between a pair of fixed wheels. However this system can have the "center point" located anywhere you want. We will define the distance from the center point to the wheel length-wise as H. We will also define the turning radius as R. We will define the angle of the left and right wheels as Θ<sub>L</sub> and Θ<sub>R</sub> respectively. We will also define W as the distance between the wheels on each side.
-[[image:Akerman_Steering_Graphic.png|thumb|c|center|400px|]]
+[[image:Ackermann_Steering_Graphic.png|thumb|c|center|400px|]]
-[[image:Akerman_Steering_Left_angle.png|center|]]
+[[image:Ackermann_Steering_Left_angle.png|center|]]
-[[image:Akerman_Steering_Right_angle.png|center|]]
+[[image:Ackermann_Steering_Right_angle.png|center|]]
 {{Note|you can add additional pivoting wheels. Just change the value of H to the distance for those wheels.}}
-[[Category:need to be finished]]
+{{Todo|Could add Kinematic equations for (X,Y) and robot orientation angle.}}

@@ Line 8: / Line 8: @@
 == Differential Steering ==
-For a differential drive system, the "center point" where all the turning calculations are based from is based on the location of all the various driving wheels. To keep the process simple, we recommend that you try to keep the wheels evenly spaced so the center is just half way between all the wheels. If the system has a caster, then you can just ignore it for simplicity. <strike>So say you had 6 drive wheels equally spaced, then the "center" would be half way between the two center wheels. However if the wheels are not evenly spaced then you need to do some math. Say the 6 wheels were placed so that the front wheels are 7 in from the center wheels and the back wheels are only 4 in from the center. In this instance you would find the average. you could say that the front wheels are +7, the center are 0, and the back wheels are -4. If you take the average you find that the "center" is at +1 from the center wheels.</strike>
+For a differential drive system, the "center point" where all the turning calculations are based from is based on the location of all the various driving wheels. To keep the process simple, we recommend that you try to keep the wheels evenly spaced so the center is just half way between all the wheels. If the system has a caster, then you can just ignore it for simplicity.
-−
 For the calculations we will say that the distance between the wheels from one side to the other is W. We will also say that the desired swing radius from the center is R, and the desired speed is V. The speed of the left side will be defined as V<sub>L</sub> and the speed of the right side as V<sub>R</sub>.

@@ Line 19: / Line 19: @@
 [[image:Differental_Steering_VL_Equation.png|center|]]
 [[image:Differental_Steering_VR_Equation.png|center|]]
 == Akerman Steering ==

← Older revision		Revision as of 15:02, 30 July 2012
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		+	== Akerman Steering ==
		+	Akerman steering is the steering system used in just about every automobile. Normally the center point is located between a pair of fixed wheels. However this system can have the "center point" located anywhere you want. We will define the distance from the center point to the wheel length-wise as H. We will also define the turning radius as R. We will define the angle of the left and right wheels as Θ<sub>L</sub> and Θ<sub>R</sub> respectively. We will also define W as the distance between the wheels on each side.
		+
		+	[[image:Akerman_Steering_Graphic.png\|thumb\|c\|center\|400px\|]]
		+	[[image:Akerman_Steering_Left_angle.png\|center\|]]
		+	[[image:Akerman_Steering_Right_angle.png\|center\|]]
		+
		+	{{Note\|you can add additional pivoting wheels. Just change the value of H to the distance for those wheels.}}

	[[Category:need to be finished]]		[[Category:need to be finished]]

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 <yambe:breadcrumb self="Turning calculations">Arduino_Projects|Arduino Tutorials and Guided Projects</yambe:breadcrumb>
 {{tl|1|}}
 [[Category:need to be finished]]

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 <yambe:breadcrumb self="Turning calculations">Tutorials/Arduino_Projects/Mobile_Robotics/Lego/Turning|Making the robot turn (Lego)</yambe:breadcrumb>
 <yambe:breadcrumb self="Turning calculations">Tutorials/Arduino_Projects/Mobile_Robotics/Tetrix/Turning|Making the robot turn (Tetrix)</yambe:breadcrumb>
-<yambe:breadcrumb self="Functions">Arduino_Projects|Arduino Tutorials and Guided Projects</yambe:breadcrumb>
+<yambe:breadcrumb self="Turning calculations">Arduino_Projects|Arduino Tutorials and Guided Projects</yambe:breadcrumb>
 {{tl|1|}}
 [[Category:need to be finished]]

← Older revision		Revision as of 13:30, 25 June 2012
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	{{tl\|1\|}}		{{tl\|1\|}}

−	[[Category:~~Arduino tutorials that~~ need to be finished]]	+	[[Category:need to be finished]]

← Older revision		Revision as of 18:30, 22 June 2012
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	<yambe:breadcrumb self="Turning calculations">Tutorials/Arduino_Projects/Mobile_Robotics/Tetrix/Turning\|Making the robot turn (Tetrix)</yambe:breadcrumb>		<yambe:breadcrumb self="Turning calculations">Tutorials/Arduino_Projects/Mobile_Robotics/Tetrix/Turning\|Making the robot turn (Tetrix)</yambe:breadcrumb>
	{{tl\|1\|}}		{{tl\|1\|}}
		+
		+	[[Category:Arduino tutorials that need to be finished]]