Some footage of the robot running in the stadium. The process of tweaking the PID values is tricky. Even after a long time working on these values, I have given up (for the day!) and stayed with slow speeds, which are easier to work with.
Measuring speed can be done in many ways. I chose to build an optical encoder, to sense the frequency of the drive shaft’s revolutions, and calculate the speed by recording the time between pings.
A peak into the PID tuning process. A good demonstration of the various effects changes in the parameters have on the behavior of the robot.
The design,printing and assembly process of the resting place for the battery. A rectangular box that seats on top of the transmission serves as a holder for the Arduino board in addition to a battery holder. A straightforward, though important part of the robot.
An explanation video of what PID control is, why it is needed, and how the various parameters affect the aggressiveness of the reaction.
A quick demonstration of the robot following a short line. It is currently receiving inputs from the sensors and calculates corrections using a simple Proportional controller.
A more specific overview of the robot. Showing the various components in more detail.
Hi, I’m glad to finally share with you a project that I began about four months ago. The PACERBOT! An Arduino Uno based robot designed to pace track runners and perform as a physical guide. I will post brief summaries of my progress along the way, besides more detailed video logs.
Yorai 