Single channel encoders in motors(neato xv-11) for Navigation stack

asked 2018-06-12 07:10:50 -0600

SystemDi gravatar image

Hello. I have two gear-motor-encoder from Neato XV-11. But this motors actually not has encoders. He has speed sensors on Hall effect. He has only 5 wires from every motor (not 6 like in real motor-encoder). That's mean I can measure only speed and can't measure direction rotation.

Questions: What I must change in navigation stack code for use this motors?? It's possible? Maybe I can use IMU sensor for check direction or any method for this?? Do you have any idea? Thank's. PS: Sorry for my English:)

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Comments

The Nav Stack requires you provide ODOM data, so you'll have to come up with a node that will convert your single channel Hall Effect sensors(HES) to ODOM. You can try counting the transitions in HES and using the direction pin on H bridge to count up or down. It may, or may not, work well enough.

billy gravatar imagebilly ( 2018-06-13 12:44:54 -0600 )edit