Hi all
I'm back with the Version 3 of my robot lawnmower. This version doesn't use the commpass but count the pulses on both wheels. It's able to work more than 3 hours and able to take care of about my 500 sq m. more details (in french) on http://hmnrobots.free.fr/wordpress/
I will now work on the automatic "going back to base"
Cool un franƧaisā¦ je me
Cool un franƧaisā¦ je me sens moins seul 
Nice job btw!
sauf que je ne sais pas
sauf que je ne sais pas traduire poulette?
My career
Je voudrais suis ingenieur des robos plus tard.
depends
on whether you switch Google "Safe Search" on or off.
"chicky" should be a pretty
"chicky" should be a pretty good translationā¦
Great, I appreciate your
Great, I appreciate your help and adopt Chicky as itās new name!
Interesting
"This version doesnāt use the commpass but count the pulses on both wheels."
So youāre able to tell itās location and direction using ONLY wheel encoders??? Or??
Man Iād love to know more about how it works. Iāll need another language than french though. English, Danish or Spanish will do 
PS: āLa Pouletteā is a MUCH better name than āChickyā. Reminds me of āPollitoā in spanish. Cute 
Ā
**La poulette, Chicky or Pollito ? what else ? **
At first I didnāt think that other than frenchies would be interested by my bot, but Iāve found so many valuable informations on foreign forums that I do apologize to have made an only french blog! But the schematics are universal !
The wheels encoders arenāt enough precise(not enough pulses per rotation) to know the precise position and it can slip over the lawn ; I use the wheels encoder to maintain the direction by comparing the number of pulses, when going backward and when turning.
Whatās the meaning of āPollitoā ?
Ā
Odometry and chickens
I also thought that encoders alone would make it impossible to keep track of location. In particular outdoors. But still Iām very interested in knowing more about your application because Iām currently working on a cheap lowtech mapping robot also using encoders. I have the advantage of being indoors on a flat surface.
Itās not so much the schematics but rather the logic, math and code behind it Iād love to know more about. And what is the resolution of your encoders (=pulses per rotation)?
Ah and āpollitoā is the diminuative form of āpolloā (=chicken), thus it means litle chicken or baby chicken
Ā
As I said the resolution of
As I said the resolution of my wheel encoder is very poor : only 12 pulses a turn. But itās enough to maintain a direction, measure backward distance and calibrate a turn. hereās the motion part of my code
void Steer (signed int8 err){
//Plage de suivi en marche avant
if (err > DEGERR) err = DEGERR;
if (err < -DEGERR) err = -DEGERR;
/* steer left or right based on error /
if (err == 0) {
//Pas de Correction
DdeM2 = AvSpeed;
DdeM1 = AVSpeed;
//fprintf(DEBUG,āCorr ok \n\rā);
}
if (err > 0) {
//Correction Ć gauche
DdeM2 = AvSpeed;
DdeM1 = AVSpeed - err20;
//fprintf(DEBUG,āCorr gauche err %d M1:%u M2:%u \n\rā,err,DdeM1,DdeM2);
}
if (err < 0) {
//Correction Ć droite
DdeM1 = AvSpeed;
DdeM2 = AvSpeed + err*20;
//fprintf(DEBUG,āCorr droite err %d M2:%u M1:%u \n\rā,err,DdeM2,DdeM1);
}
CdeMotrice();
}
void MoveBackward(){
DdeM1 = MaxArSpeed; DdeM2 = MaxArSpeed;
if (TempoRecule > 0 && !Obst_AR && !B_ARG && !B_ARD && !OvrIMot && (CptRoue1+CptRoue2 <= ReqCpt) )
CdeMotrice();
else{
StopMotrice();
Marche_AV = false; Marche_AR = false; Turning = true;
TempoVirage = dureeVirage;
ReqCpt = CPT_TURN;
StopMotrice();
}
}
void Turn (){
//procƩdure de virage tant que tempo et compteur
if (TempoVirage >0 && !Obst_AR && !OvrIMot && (CptRoue1+CptRoue2 <= ReqCpt)){
DdeM1 = DdeM2 = MaxTurnSpeed;
CdeMotrice();
}else{
//Fin du virage
StopMotrice();
Turning = TurnLeft = TurnRight = false;
Marche_AV=true;
}
}
void MoveForward(){
//gĆØre le dĆ©placement Avant
//inhibitions pour se dƩgager
if(B_AVG && Obst_AR) B_AVG = false;
if(B_AVD && Obst_AR) B_AVD = false;
if (!Obst_AV && !Obst_US_LH && !Obst_US_RH && !B_AVG && !B_AVD && !OvrIMot){
Steer(DiffRoues);
}else{
if (Obst_US_LH || B_AVG || Obst_AV){ //ecart Ć droite
TurnRight=true;TurnLeft=false;
}else{ //Obst_US_RH ou B_AVD ecart gauche
TurnRight=false;TurnLeft=true;
}
Marche_AV = Turning =false;
Marche_AR = true;
TempoRecule = DureeRecule;
ReqCpt = CPT_BACKWARD;
StopMotrice();
}
}
Gallus gallus domesticus
I am still wondering what resemblance you see between chickens and this robot. Is it the free range, wandering around the lawn behavior? Does it eat batteries you sprinkle around your garden?
I would like to build a robot that could do that. And then use the energy inside.
La poulette just because
La poulette just because when itās cutting the grass and Iām inside, I use to go my window and say āOĆ¹ est encore cette sacrĆ©e poulette ,ā that is āWhere is that damned Ckicken ?ā thinking in other word : is it once more trying to cut the flowers ? or stuck anywhere ? or trying to escape from my yard ? as it used to be less reliable than it is now ! Unfortunaly today itās not working because I 've got some motor trouble,
