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RouteMaster April 2014

Back to Basics!

24th April 2014

Basic testing. For some reason, the mouse would skew during the acceleration stage. Not sure why, maybe one of the motors is stronger than the other? The signal to step is sent by one byte (one nibble per motor) so they should both receive the signals at the same time.

A new acceleration routine seems to have helped. A gentle start to stop the skewing. The routine now uses a linear acceleration calculated on the fly, so no need for the stepper acceleration table any more.

Shown here is the mouse performing a pre-set pattern. There is no reference or correction being applied, so it shows that the steppers are performing more as I would expect them to.

There are also a new set of tyres being used here as the original ones are very smooth and slippery now.