Pioneer 3TM, 2TM manual Ticksmm and Revcount, 0056 0057 0060 0034

Updating and Reconfiguring AROS

ROTKP	int	30	Proportional PID	for rotation
ROTKV	int	200	Differential PID	for rotation
ROTKI	int	0	Integral PID for	rotation
TRANSACC	int	300	Translational acceleration; mm/sec2
TRANSDECEL	int	300	Translational deceleration; mm/sec2
TRANSKP	int	15	Proportional PID	for translation
TRANSKV	int	450	Differential PID	for translation
TRANSKI	int	4	Integral PID for	translation
JOYVELMAX	int	1000	Joydrive maximum	translation velocity
JOYRVELMAX	int	50	Joydrive maximum	rotational velocity

The Proportional PID (Kp) values control the responsiveness of your robot. Lower values make for a slower system; higher values make the robot "zippier", but can lead to overshoot and oscillation.

The Derivative PID (Kv) dampens oscillation and overshoot. Increasing values gives better control of oscillation and overshoot, but they also make the robot’s movements more sluggish.

The Integral PID (Ki) adjusts residual error in turning and velocity. Higher values make the robot correct increasingly smaller errors between its desired and actual angular position and speed.

TICKSMM AND REVCOUNT

AROS uses the ticksmm and revcount parameters to convert your platform- independent speed and rotation commands—typically expressed in millimeters or degrees, respectively—into platform-dependent units.

The ticksmm value is the number of encoder pulses (“ticks”) per millimeter of wheel rotation. The value is, of course, dependent upon the wheel encoder’s resolution, the motor-to-wheel gear ratio, and the wheel’s diameter. These don’t normally change, and so are considered constants and not editable for your robot.

The revcount value is the number of encoder ticks for one full revolution of the robot. It depends on a number of factors, principally the length of the wheel base, which may change due to payload, tire wear, operating surface, and so on.

Table 18. Some platform-dependent robot parameter values

	Model
PARAMETER	DX	DXE	CE	PB V1	P3DX,	AT,	P3AT
					PerfPB,	AT8	&
					DX8,		AT8
					DX8 and		Plus
					PerfPB
					Plus
ENCODER TICKS/REV	500	500	500	500	500	100	100
GEAR RATIO	19.7	19.7	19.7	38.3	38.3	85.5	57.5
WHEEL DIAM (MM)	165	191	165	165	191	220	220
ENCODER TICKS/MM	76	66	76	148	132	49	138
DISTCONVFACTOR	0.840	0.969	0.826	0.413	0.424	1.32	0.465
DIFFCONVFACTOR	0.0056	0.0057	0.0056	0.0056	0.0060	0.0034	0.0060

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