{"id":6872,"date":"2021-01-24T21:00:05","date_gmt":"2021-01-24T20:00:05","guid":{"rendered":"https:\/\/robolyon.com\/?p=6872"},"modified":"2022-04-02T18:03:57","modified_gmt":"2022-04-02T16:03:57","slug":"la-programmation-a-deja-commence","status":"publish","type":"post","link":"https:\/\/robolyon.com\/index.php\/2021\/01\/24\/la-programmation-a-deja-commence\/","title":{"rendered":"La programmation a d\u00e9j\u00e0 commenc\u00e9"},"content":{"rendered":"
\n

Cette ann\u00e9e, la programmation <\/strong>est un \u00e9l\u00e9ment crucial. En effet, sur les 5 d\u00e9fis du \u00ab\u202fAt Home Challenge\u202f\u00bb, 3 sont bas\u00e9s uniquement sur le d\u00e9placement du robot, dont 2 en totale autonomie c\u2019est-\u00e0-dire sans aucune intervention humaine.<\/p>\n\n\n\n

\"\"<\/figure>\n\n\n\n

Cette semaine nous avons travaill\u00e9 sur les rampes d\u2019acc\u00e9l\u00e9ration. Cela consiste \u00e0 <\/span><\/span>faire <\/span><\/span>acc\u00e9l\u00e9r<\/span><\/span>er<\/span><\/span> progressivement le robot pour mieux <\/span><\/span>contr\u00f4ler<\/span><\/span> sa vitesse. <\/span><\/span>S<\/span><\/span>i<\/span><\/span> on fait varier trop <\/span><\/span>brutalement<\/span><\/span> la <\/span><\/span>vitesse<\/span><\/span> du robot<\/span><\/span>, celui-ci patine, tremble<\/span><\/span> et\/ou <\/span><\/span>rentre en r\u00e9sonance<\/span><\/span>\u202f; c<\/span><\/span>ette r\u00e9action<\/span><\/span> est<\/span><\/span> <\/span><\/span>terrible<\/span><\/span> pour nous car si les roues du robot tournent sans que celui<\/span><\/span>-ci<\/span><\/span> avance, cela brouille le suivi du robot<\/span><\/span>, <\/span><\/span>il n\u2019arrivera pas \u00e0 destination et nous<\/span><\/span> ne<\/span><\/span> validerons pas le <\/span><\/span>d\u00e9fi<\/span><\/span>.<\/span><\/span><\/p>\n\n\n\n

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Pour \u00e9viter cela tout en voulant al<\/span>le<\/span>r le<\/strong><\/span> plus vite possible<\/strong>, nous devons<\/span> programmer <\/span>des rampes d\u2019acc\u00e9l\u00e9ration et de d\u00e9c\u00e9l\u00e9ration<\/span>.<\/span> <\/span><\/p>\n

Pour bien comprendre <\/span>notre probl\u00e9matique<\/span>, il faut savoir que plus un moteur re\u00e7oit de l\u2019\u00e9nergie, plus il va vite. <\/span> <\/span><\/p>\n

A<\/span>ctuellement nous ne savons dire aux moteurs que \u00ab\u202fje vous donne 8 Volts, tournez\u202f\u00bb, or il faudrait \u00eatre capable de leur dire \u00ab\u202favancez \u00e0 20km\/h\u202f\u00bb, afin de mieux suivre et contr\u00f4ler la progression robot.<\/span> <\/span><\/p>\n

Pour cela, d<\/span>\u00e8s samedi, nous avons commenc\u00e9 des tests de vitesse<\/span> avec diff\u00e9rents voltages, afin de<\/span> r\u00e9cup\u00e9rer un maximum de donn\u00e9es<\/strong><\/span>\u202f: <\/span>vitesse, acc\u00e9l\u00e9ration, rotation<\/span>,<\/span> <\/span>\u2026<\/span> <\/span><\/p>\n\n\n\n

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\"\"<\/figure>\n\n\n\n

A partir des donn\u00e9es r\u00e9colt\u00e9es, nous sommes maintenant capables de dire au robot d\u2019aller \u00e0 20km\/h, et le programme se charge de traduire cela en un voltage pr\u00e9cis. <\/span> <\/span><\/p>\n

Nous utilisons l<\/span>\u2019\u00e9quation simplifi\u00e9e :<\/span> <\/span><\/p>\n

Voltage appliqu\u00e9 = Kv*Vitesse + Ka*Acc\u00e9l\u00e9ration + Kc  <\/strong><\/p>\n

o\u00f9 Kv, Ka et Kc sont des constantes que nous avons calcul\u00e9es \u00e0 partir des milliers de donn\u00e9es r\u00e9colt\u00e9es lors de nos tests de vitesse.<\/p>\n

Elles d\u00e9finissent un plan pour chaque moteur dans \u00ab\u00a0un espace 3D\u00a0\u00bb<\/span> o\u00f9 les coordonn\u00e9es des points sont [ vitesse, acc\u00e9l\u00e9ration, voltage ].<\/span><\/p>\n\n\n\n

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\"\"
Visualisation du \u00ab\u00a0Plan\u00a0\u00bb caract\u00e9risant un des moteurs de SCRUMTROOPER [notre robot].<\/figcaption><\/figure>\n\n\n\n
\n\n\n\n

Ci-dessous un lien pour t\u00e9l\u00e9charger un fichier HTML contenant les donn\u00e9es 3D interactives r\u00e9colt\u00e9es lors de nos tests.\u00a0<\/p>\n\n\n\n

motor-profile<\/a>T\u00e9l\u00e9charger<\/a><\/div>\n<\/div>","protected":false},"excerpt":{"rendered":"

Cette semaine nous avons travaill\u00e9 sur les rampes d\u2019acc\u00e9l\u00e9ration. Cela consiste \u00e0\u00a0faire\u00a0acc\u00e9l\u00e9rer\u00a0progressivement le robot pour mieux\u00a0contr\u00f4ler\u00a0sa vitesse.\u00a0Si\u00a0on fait varier trop\u00a0brutalement\u00a0la\u00a0vitesse\u00a0du robot, celui-ci patine, tremble\u00a0et\/ou\u00a0rentre en r\u00e9sonance\u202f; cette r\u00e9action\u00a0est\u00a0terrible\u00a0pour nous car si les roues du robot tournent sans que celui-ci\u00a0avance, cela brouille le suivi du robot,\u00a0il n\u2019arrivera pas \u00e0 destination et nous\u00a0ne\u00a0validerons pas le\u00a0d\u00e9fi.<\/p>\n","protected":false},"author":1,"featured_media":6982,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"_jetpack_memberships_contains_paid_content":false,"footnotes":""},"categories":[16,17,108],"tags":[239],"class_list":["post-6872","post","type-post","status-publish","format-standard","has-post-thumbnail","hentry","category-actualite","category-saisionrobot","category-saison2021","tag-apprentissage"],"jetpack_featured_media_url":"https:\/\/robolyon.com\/wp-content\/uploads\/2021\/01\/AxelR_pilotage_compressed.jpg","jetpack_sharing_enabled":true,"_links":{"self":[{"href":"https:\/\/robolyon.com\/index.php\/wp-json\/wp\/v2\/posts\/6872","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/robolyon.com\/index.php\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/robolyon.com\/index.php\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/robolyon.com\/index.php\/wp-json\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/robolyon.com\/index.php\/wp-json\/wp\/v2\/comments?post=6872"}],"version-history":[{"count":10,"href":"https:\/\/robolyon.com\/index.php\/wp-json\/wp\/v2\/posts\/6872\/revisions"}],"predecessor-version":[{"id":7364,"href":"https:\/\/robolyon.com\/index.php\/wp-json\/wp\/v2\/posts\/6872\/revisions\/7364"}],"wp:featuredmedia":[{"embeddable":true,"href":"https:\/\/robolyon.com\/index.php\/wp-json\/wp\/v2\/media\/6982"}],"wp:attachment":[{"href":"https:\/\/robolyon.com\/index.php\/wp-json\/wp\/v2\/media?parent=6872"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/robolyon.com\/index.php\/wp-json\/wp\/v2\/categories?post=6872"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/robolyon.com\/index.php\/wp-json\/wp\/v2\/tags?post=6872"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}