Testing the complete robot for the first time

Dear readers


Last night I managed to finetune my program in such a way that it reacts to a change of position.

How did I finetune?

After I wrote the final peace of the program (being the pid control an pwm output) I uploaded it into an arduino hooked up to the robot. I din't connect the engine's in the first stadium. I just tested my white calibration and black calibration. This worked out fine. You can see how it works in the first video below. After de white an black values were set I putted al the results of every calculation on the serial monitor with a delay at the end. This way I could monitor the programs every move. Check everything as well. I made modifications where needed.

After I tough that I figured it out I uploaded the program again an this time I connected the engines. I didn't put the wheels on the ground because my test set-up did not allow me to let it ride (to many cables attached to the computer). The first two or three attempts weren't good. I had a unforeseen problem. One of the engines gearboxes didn't function well. I tried to fix this by setting the standard pwm value a lot higher for this engine. This somewhat worked but every time the engine comes in lower rev areas is has the intention to stall. I will have to take a look at the gearbox later and hope that its fixable. My efforts weren't in vain tough because I managed to make al little film that shows you how the wheels react to the changing position.

All the talking is in Dutch because were from belgium (off course you already knew this).
So I tried to put subtitles in the film. I hope you guy's approve.

Yours sincerely
Giete