First successful run (sort of)

27. March 2010 by admin.

Ok, here is my car doing some basic navigation at slow speed.  Here’s what’s happening.  The car heads toward the first point.  Note that steering is extreme left or right.  I think I’ve got an algorithm issue which I need to debug.  When it hits the first point, it turns around and starts heading back toward the second point which is almost at the place I started.  On the way back, the steering is better (slight, continuous adjustment) but it has trouble getting up the hill under a 20% duty cycle.  Also, it pauses when it loses the GPS signal.  I don’t know why GPS is flakey on the way back.  It could be the napkin I’ve got the module wrapped up in. 

My to-do list now is:

• control ground speed by odometer feedback, not PWM
• fix the steering algorithm
• get object detection going

It will have to wait until April 1 when I’m taking some time to focus on this project. 

Thanks to Greg and Dave for helping me with the steering algorithm.  I’m sure they got it right and it’s me that didn’t code it correctly.  

 Now to book my plane ticket…
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