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calibration.md

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Motor calibration

The Thymio robot has no encoders and relies solely on power consumption to estimate the speed of the wheels. There are two procedures to calibrate this estimation; perform them in this order:

  1. Official Motor calibration instructions

  2. the ROS (automatic) calibration described below.

ROS calibration

  1. Print a tick black line on a A4 sheet.

  2. Launch the calibration service

docker-compose -f commands/docker-compose.yaml up calibrate

and follow the instructions displayed on the console:

  • After the first beep, place the robot with its left wheel at the begin of the black line, oriented along the black line. Then press the center button. After 3 seconds the robot will begin rotating anti-clockwise while keeping the left wheel still. Every two full rotations, the robot will increase the right wheel speed.

  • After the first beep, place the robot with its right wheel at the begin of the black line, oriented along the black line. Then press the center button. After 3 seconds the robot will begin rotating clockwise while keeping the right wheel still. Every two full rotations, the robot will increase the left wheel speed.

  • Wait until the robot stop.

  1. Edit ros.env with
CALIBRATED=true
  1. Relaunch the robot service
docker-compose restart robot