Rover Test Videos
Here follow a sequence of test videos where we try to get smooth dynamic turns.
Test #11
Still not really a smooth turn here and we crash. Here we pulse straight travel with occasional periods of braking at 12%.
Test #12
Again, not so nice.
Test #13
Once again…yucky turns.
Test #14
A slightly goofy test but now we’re setting up multiple tests runs in a single piece of code to gather data. Here we finally get some successful data. (NOTE: When reading the table a positive value indicates the wheel is turning forward while a negative value indicates braking.)
Test #14
| Run | Outside PWM | Inside PWM |
| 1 | 100% | -12% |
| 2 | 90% | -12% |
| 3 | 80% | -12% |
| 4 | 70% | -12% |
| 5 | 60% | -12% |
| 6 | 50% | -12% |
| 7 | 80% | -10% |
| 8 | 80% | -8% |
| 9 | 80% | -6% |
Video
Test #15
Now that we have found a nice turn, we try varying the braking speed. We also crash.
Test #15
| Run | Outside PWM | Inside PWM |
| 1 | 80% | -6% |
| 2 | 80% | -4% |
| 3 | 80% | -2% |
| 4 | 80% | 0% |
Video
Test #16
With fixed braking at 6%, we vary the radius of the turns by decreasing the speed on the outside tires.
Test #16
| Run | Outside PWM | Inside PWM |
| 1 | 100% | -6% |
| 2 | 90% | -6% |
| 3 | 80% | -6% |
| 4 | 70% | -6% |
| 5 | 60% | -6% |
| 6 | 50% | -6% |
Video
Engineers like to collect data…
The data for Tests 14, 15 & 16
