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Products => Arduino Education Kits => Arduino Engineering Kit => Topic started by: gzwicker on Dec 10, 2018, 06:58 pm

Title: Crossed Signals in Rover Controls
Post by: gzwicker on Dec 10, 2018, 06:58 pm
I've encountered a  problem in Section 5.2 Open loop control of Rover:
When I "Deploy to Hardware" and then run the rover on the floor it first does a turn to the left and then a straight line motion. I opened the v and w Signal Builders and they are as described in the instructions, so it should go straight and then turn left. So then I made a change in each of the two signal graphs and reDeployed to Hardware. The changes I made in the v signal showed up in the w behavior and vice versa.My knowledge of matrix algebra is slight so I cannot check the correctness of the matrix expression inside the "convertToWheelVel"  subsystem but other than that I don't know where to look for the source of the problem. Can anyone offer some help, please.
Title: Re: Crossed Signals in Rover Controls
Post by: gzwicker on Dec 10, 2018, 08:27 pm
It has occurred to me that if one of the motors was turning in the wrong sense then that would explain the behavior that I wrote about in my post above. I re-watched the assembly video and sure enough, the red and black power wires for each motor are shown as reversed with respect to the other. I exchanged the connection points of the red and black wires of the left motor and all is well. Sorry, my bad!