As promised in the last blog, I have remade the whole robot structure making it sturdier and making containing units for the motors and pulleys. The code pasted in the last blog has been run on the new robot model and can be seen the video below:
At this point the robot is able to move x and y quite well. The Y in particular moves very smooth. The X-axis however is still moves rough and has a starting delay because of the pulley not gripping properly. Also the legs aren't sturdy enough so there is a shake when the X runs. This will all be rectified soon and the location system added.
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