Robby zieht nach links

Hallo zusammen...

auch ich habe mir vor zwei Tagen einen RP6 zugelegt um mir einen Einstieg in die Robotik und C-Programmierung zu verschaffen.
Auf diesem Wege möchte ich erstmal allen Hallo sagen und schonmal vorab ein Lob an dieses Forum abgeben. Ich habe schon einige interessante Artikel gefunden und werde mich in der nächste Zeit bestimmt häufiger hier blicken lassen.

Schade das ich meinen Einstieg gleich mit einem Problem kombinieren muß, aber alles andere wäre wahrscheinlich zu einfach.

Nun aber zur Problembeschreibung:

Ich habe ein Problem mit dem Antrieb, siehe Titel. Die Abweichung in cm pro gefahrenen m (diese Frage habe ich in anderen Artikeln gelesen) lässt sich bei mir nicht angeben, da mein Robby nur im Kreis fährt. :-s
Ich habe natürlich auch schon nach Lösungen gesucht und bin auf die Einstellung der Encoder gestoßen, doch ich finde die dazugehörige Dokumentation nicht. Des Weiteren habe ich gelesen das dieses Thema nicht ganz einfach sein soll.

Ich hoffe der Encoder Duty-Cycle Test ist aussagekräftig genug um eine Diagnose zu stellen.

Code:

Duty Cycle + LEFT: 64% -> OK || Duty Cycle + RIGHT: 67% OK | VL:53 | VR:35 Duty Cycle + LEFT: 64% -> OK || Duty Cycle + RIGHT: 46% OK | VL:81 | VR:55 Duty Cycle + LEFT: 62% -> OK || Duty Cycle + RIGHT: 78% BAD ! | VL:79 | VR:51 Duty Cycle + LEFT: 72% -> OK || Duty Cycle + RIGHT: 86% BAD ! | VL:79 | VR:57 Duty Cycle + LEFT: 61% -> OK || Duty Cycle + RIGHT: 92% BAD ! | VL:77 | VR:56 Duty Cycle + LEFT: 62% -> OK || Duty Cycle + RIGHT: 81% BAD ! | VL:77 | VR:52 Duty Cycle + LEFT: 72% -> OK || Duty Cycle + RIGHT: 81% BAD ! | VL:77 | VR:55 Duty Cycle + LEFT: 61% -> OK || Duty Cycle + RIGHT: 70% OK | VL:79 | VR:60 Duty Cycle + LEFT: 60% -> OK || Duty Cycle + RIGHT: 66% OK | VL:79 | VR:53 Duty Cycle + LEFT: 66% -> OK || Duty Cycle + RIGHT: 81% BAD ! | VL:80 | VR:58 Duty Cycle + LEFT: 59% -> OK || Duty Cycle + RIGHT: 76% BAD ! | VL:82 | VR:58 Duty Cycle + LEFT: 70% -> OK || Duty Cycle + RIGHT: 84% BAD ! | VL:82 | VR:52 Duty Cycle + LEFT: 59% -> OK || Duty Cycle + RIGHT: 57% OK | VL:80 | VR:56 Duty Cycle + LEFT: 64% -> OK || Duty Cycle + RIGHT: 86% BAD ! | VL:80 | VR:54 Duty Cycle + LEFT: 64% -> OK || Duty Cycle + RIGHT: 66% OK | VL:77 | VR:53 Duty Cycle + LEFT: 57% -> OK || Duty Cycle + RIGHT: 84% BAD ! | VL:77 | VR:59 Duty Cycle + LEFT: 64% -> OK || Duty Cycle + RIGHT: 68% OK | VL:76 | VR:56 Duty Cycle + LEFT: 65% -> OK || Duty Cycle + RIGHT: 81% BAD ! | VL:78 | VR:55 Duty Cycle + LEFT: 62% -> OK || Duty Cycle + RIGHT: 66% OK | VL:80 | VR:59 Duty Cycle + LEFT: 70% -> OK || Duty Cycle + RIGHT: 63% OK | VL:83 | VR:54 Duty Cycle + LEFT: 60% -> OK || Duty Cycle + RIGHT: 67% OK | VL:83 | VR:56 Duty Cycle + LEFT: 69% -> OK || Duty Cycle + RIGHT: 65% OK | VL:82 | VR:59 Duty Cycle + LEFT: 58% -> OK || Duty Cycle + RIGHT: 67% OK | VL:83 | VR:53 Duty Cycle + LEFT: 63% -> OK || Duty Cycle + RIGHT: 62% OK | VL:81 | VR:54 Duty Cycle + LEFT: 69% -> OK || Duty Cycle + RIGHT: 85% BAD ! | VL:75 | VR:57 Duty Cycle + LEFT: 56% -> OK || Duty Cycle + RIGHT: 81% BAD ! | VL:76 | VR:57 Duty Cycle + LEFT: 62% -> OK || Duty Cycle + RIGHT: 59% OK | VL:79 | VR:60 Duty Cycle + LEFT: 64% -> OK || Duty Cycle + RIGHT: 81% BAD ! | VL:82 | VR:55 Duty Cycle + LEFT: 59% -> OK || Duty Cycle + RIGHT: 68% OK | VL:82 | VR:56 Duty Cycle + LEFT: 64% -> OK || Duty Cycle + RIGHT: 80% BAD ! | VL:82 | VR:60 Duty Cycle + LEFT: 60% -> OK || Duty Cycle + RIGHT: 30% OK | VL:83 | VR:52 Duty Cycle + LEFT: 70% -> OK || Duty Cycle + RIGHT: 76% BAD ! | VL:82 | VR:55 Duty Cycle + LEFT: 57% -> OK || Duty Cycle + RIGHT: 46% OK | VL:80 | VR:57 Duty Cycle + LEFT: 64% -> OK || Duty Cycle + RIGHT: 74% OK | VL:77 | VR:56 Duty Cycle + LEFT: 71% -> OK || Duty Cycle + RIGHT: 73% OK | VL:77 | VR:53 Duty Cycle + LEFT: 59% -> OK || Duty Cycle + RIGHT: 83% BAD ! | VL:78 | VR:61 Duty Cycle + LEFT: 64% -> OK || Duty Cycle + RIGHT: 80% BAD ! | VL:80 | VR:54 Duty Cycle + LEFT: 60% -> OK || Duty Cycle + RIGHT: 58% OK | VL:81 | VR:57 Duty Cycle + LEFT: 62% -> OK || Duty Cycle + RIGHT: 69% OK | VL:82 | VR:52 Duty Cycle + LEFT: 60% -> OK || Duty Cycle + RIGHT: 65% OK | VL:83 | VR:57 Duty Cycle + LEFT: 61% -> OK || Duty Cycle + RIGHT: 69% OK | VL:83 | VR:57 Duty Cycle + LEFT: 64% -> OK || Duty Cycle + RIGHT: 58% OK | VL:81 | VR:54 Duty Cycle + LEFT: 60% -> OK || Duty Cycle + RIGHT: 78% BAD ! | VL:80 | VR:55 Duty Cycle + LEFT: 64% -> OK || Duty Cycle + RIGHT: 77% BAD ! | VL:78 | VR:60 Duty Cycle + LEFT: 64% -> OK || Duty Cycle + RIGHT: 87% BAD ! | VL:78 | VR:53 Duty Cycle + LEFT: 61% -> OK || Duty Cycle + RIGHT: 56% OK | VL:77 | VR:57 Duty Cycle + LEFT: 71% -> OK || Duty Cycle + RIGHT: 54% OK | VL:79 | VR:59 Duty Cycle + LEFT: 57% -> OK || Duty Cycle + RIGHT: 67% OK | VL:81 | VR:52 Duty Cycle + LEFT: 70% -> OK || Duty Cycle + RIGHT: 80% BAD ! | VL:83 | VR:59 Duty Cycle + LEFT: 59% -> OK || Duty Cycle + RIGHT: 68% OK | VL:84 | VR:59 Duty Cycle + LEFT: 69% -> OK || Duty Cycle + RIGHT: 88% BAD ! | VL:84 | VR:57 Duty Cycle + LEFT: 61% -> OK || Duty Cycle + RIGHT: 52% OK | VL:80 | VR:58 Duty Cycle + LEFT: 59% -> OK || Duty Cycle + RIGHT: 65% OK | VL:76 | VR:53 Duty Cycle + LEFT: 71% -> OK || Duty Cycle + RIGHT: 45% OK | VL:76 | VR:58 Duty Cycle + LEFT: 61% -> OK || Duty Cycle + RIGHT: 62% OK | VL:78 | VR:60 Duty Cycle + LEFT: 61% -> OK || Duty Cycle + RIGHT: 50% OK | VL:81 | VR:50 Duty Cycle + LEFT: 65% -> OK || Duty Cycle + RIGHT: 78% BAD ! | VL:83 | VR:62 Duty Cycle + LEFT: 60% -> OK || Duty Cycle + RIGHT: 69% OK | VL:81 | VR:58 Duty Cycle + LEFT: 62% -> OK || Duty Cycle + RIGHT: 56% OK | VL:83 | VR:49 Duty Cycle + LEFT: 59% -> OK || Duty Cycle + RIGHT: 50% OK | VL:85 | VR:58 Duty Cycle + LEFT: 72% -> OK || Duty Cycle + RIGHT: 68% OK | VL:81 | VR:57 Duty Cycle + LEFT: 56% -> OK || Duty Cycle + RIGHT: 74% OK | VL:79 | VR:52 Duty Cycle + LEFT: 60% -> OK || Duty Cycle + RIGHT: 60% OK | VL:77 | VR:60 Duty Cycle + LEFT: 72% -> OK || Duty Cycle + RIGHT: 80% BAD ! | VL:79 | VR:51 Duty Cycle + LEFT: 57% -> OK || Duty Cycle + RIGHT: 83% BAD ! | VL:80 | VR:60 Duty Cycle + LEFT: 72% -> OK || Duty Cycle + RIGHT: 88% BAD ! | VL:80 | VR:57 Duty Cycle + LEFT: 58% -> OK || Duty Cycle + RIGHT: 50% OK | VL:82 | VR:52 Duty Cycle + LEFT: 65% -> OK || Duty Cycle + RIGHT: 71% OK | VL:84 | VR:58 Duty Cycle + LEFT: 58% -> OK || Duty Cycle + RIGHT: 83% BAD ! | VL:81 | VR:58 Duty Cycle + LEFT: 64% -> OK || Duty Cycle + RIGHT: 71% OK | VL:81 | VR:50 Duty Cycle + LEFT: 67% -> OK || Duty Cycle + RIGHT: 81% BAD ! | VL:82 | VR:60 Duty Cycle + LEFT: 58% -> OK || Duty Cycle + RIGHT: 75% BAD ! | VL:77 | VR:58 Duty Cycle + LEFT: 62% -> OK || Duty Cycle + RIGHT: 60% OK | VL:77 | VR:52 Duty Cycle + LEFT: 73% -> OK || Duty Cycle + RIGHT: 75% BAD ! | VL:76 | VR:59 # Duty Cycle + LEFT: 58% -> OK || Duty Cycle + RIGHT: 52% OK | VL:78 | VR:57 Duty Cycle + LEFT: 66% -> OK || Duty Cycle + RIGHT: 82% BAD ! | VL:81 | VR:59 Duty Cycle + LEFT: 55% -> OK || Duty Cycle + RIGHT: 83% BAD ! | VL:83 | VR:56 Duty Cycle + LEFT: 65% -> OK || Duty Cycle + RIGHT: 82% BAD ! | VL:82 | VR:51 Duty Cycle + LEFT: 56% -> OK || Duty Cycle + RIGHT: 65% OK | VL:83 | VR:58 Duty Cycle + LEFT: 62% -> OK || Duty Cycle + RIGHT: 57% OK | VL:82 | VR:59 Duty Cycle + LEFT: 71% -> OK || Duty Cycle + RIGHT: 69% OK | VL:78 | VR:51 Duty Cycle + LEFT: 55% -> OK || Duty Cycle + RIGHT: 75% BAD ! | VL:75 | VR:60 # Duty Cycle + LEFT: 60% -> OK || Duty Cycle + RIGHT: 88% BAD ! | VL:76 | VR:57 Duty Cycle + LEFT: 70% -> OK || Duty Cycle + RIGHT: 81% BAD ! | VL:76 | VR:54 Duty Cycle + LEFT: 57% -> OK || Duty Cycle + RIGHT: 70% OK | VL:81 | VR:59 Duty Cycle + LEFT: 65% -> OK || Duty Cycle + RIGHT: 60% OK | VL:81 | VR:55 Duty Cycle + LEFT: 55% -> OK || Duty Cycle + RIGHT: 70% OK | VL:81 | VR:51 Duty Cycle + LEFT: 64% -> OK || Duty Cycle + RIGHT: 76% BAD ! | VL:84 | VR:59 Duty Cycle + LEFT: 61% -> OK || Duty Cycle + RIGHT: 89% BAD ! | VL:81 | VR:50 Duty Cycle + LEFT: 62% -> OK || Duty Cycle + RIGHT: 77% BAD ! | VL:78 | VR:61 Duty Cycle + LEFT: 71% -> OK || Duty Cycle + RIGHT: 78% BAD ! | VL:75 | VR:57 Duty Cycle + LEFT: 59% -> OK || Duty Cycle + RIGHT: 83% BAD ! | VL:77 | VR:54 Duty Cycle + LEFT: 60% -> OK || Duty Cycle + RIGHT: 69% OK | VL:78 | VR:58 Duty Cycle + LEFT: 72% -> OK || Duty Cycle + RIGHT: 70% OK | VL:80 | VR:56 Duty Cycle + LEFT: 58% -> OK || Duty Cycle + RIGHT: 58% OK | VL:81 | VR:52 Duty Cycle + LEFT: 66% -> OK || Duty Cycle + RIGHT: 67% OK | VL:81 | VR:57 Duty Cycle + LEFT: 60% -> OK || Duty Cycle + RIGHT: 65% OK | VL:82 | VR:59 Duty Cycle + LEFT: 64% -> OK || Duty Cycle + RIGHT: 76% BAD ! | VL:83 | VR:50 Duty Cycle + LEFT: 65% -> OK || Duty Cycle + RIGHT: 60% OK | VL:81 | VR:61 Duty Cycle + LEFT: 60% -> OK || Duty Cycle + RIGHT: 80% BAD ! | VL:79 | VR:53 Duty Cycle + LEFT: 65% -> OK || Duty Cycle + RIGHT: 83% BAD ! | VL:76 | VR:59 Duty Cycle + LEFT: 65% -> OK || Duty Cycle + RIGHT: 82% BAD ! | VL:79 | VR:56 Duty Cycle + LEFT: 61% -> OK || Duty Cycle + RIGHT: 65% OK | VL:79 | VR:54 Duty Cycle + LEFT: 72% -> OK || Duty Cycle + RIGHT: 86% BAD ! | VL:80 | VR:58 Duty Cycle + LEFT: 58% -> OK || Duty Cycle + RIGHT: 68% OK | VL:79 | VR:56 Duty Cycle + LEFT: 64% -> OK || Duty Cycle + RIGHT: 87% BAD ! | VL:83 | VR:52 Duty Cycle + LEFT: 57% -> OK || Duty Cycle + RIGHT: 68% OK | VL:84 | VR:59 Duty Cycle + LEFT: 64% -> OK || Duty Cycle + RIGHT: 67% OK | VL:81 | VR:57 Duty Cycle + LEFT: 63% -> OK || Duty Cycle + RIGHT: 71% OK | VL:81 | VR:53 Duty Cycle + LEFT: 60% -> OK || Duty Cycle + RIGHT: 79% BAD ! | VL:78 | VR:60 Duty Cycle + LEFT: 64% -> OK || Duty Cycle + RIGHT: 62% OK | VL:78 | VR:55 Duty Cycle + LEFT: 69% -> OK || Duty Cycle + RIGHT: 67% OK | VL:76 | VR:56 Duty Cycle + LEFT: 60% -> OK || Duty Cycle + RIGHT: 70% OK | VL:79 | VR:53 Duty Cycle + LEFT: 73% -> OK || Duty Cycle + RIGHT: 73% OK | VL:82 | VR:52 Duty Cycle + LEFT: 58% -> OK || Duty Cycle + RIGHT: 50% OK | VL:83 | VR:59 Duty Cycle + LEFT: 72% -> OK || Duty Cycle + RIGHT: 76% BAD ! | VL:84 | VR:57 Duty Cycle + LEFT: 58% -> OK || Duty Cycle + RIGHT: 72% OK | VL:82 | VR:54 Duty Cycle + LEFT: 64% -> OK || Duty Cycle + RIGHT: 87% BAD ! | VL:83 | VR:60 Duty Cycle + LEFT: 66% -> OK || Duty Cycle + RIGHT: 58% OK | VL:78 | VR:54 Duty Cycle + LEFT: 57% -> OK || Duty Cycle + RIGHT: 65% OK | VL:76 | VR:58 Duty Cycle + LEFT: 64% -> OK || Duty Cycle + RIGHT: 76% BAD ! | VL:77 | VR:58 Duty Cycle + LEFT: 61% -> OK || Duty Cycle + RIGHT: 69% OK | VL:78 | VR:52 Duty Cycle + LEFT: 61% -> OK || Duty Cycle + RIGHT: 90% BAD ! | VL:80 | VR:55 Duty Cycle + LEFT: 68% -> OK || Duty Cycle + RIGHT: 76% BAD ! | VL:83 | VR:57 Duty Cycle + LEFT: 59% -> OK || Duty Cycle + RIGHT: 89% BAD ! | VL:82 | VR:56 Duty Cycle + LEFT: 67% -> OK || Duty Cycle + RIGHT: 73% OK | VL:83 | VR:60 Duty Cycle + LEFT: 61% -> OK || Duty Cycle + RIGHT: 67% OK | VL:82 | VR:52 Duty Cycle + LEFT: 71% -> OK || Duty Cycle + RIGHT: 83% BAD ! | VL:79 | VR:58 Duty Cycle + LEFT: 62% -> OK || Duty Cycle + RIGHT: 68% OK | VL:77 | VR:59 Duty Cycle + LEFT: 60% -> OK || Duty Cycle + RIGHT: 84% BAD ! | VL:77 | VR:51 Duty Cycle + LEFT: 73% -> OK || Duty Cycle + RIGHT: 65% OK | VL:79 | VR:58 Duty Cycle + LEFT: 56% -> OK || Duty Cycle + RIGHT: 87% BAD ! | VL:80 | VR:58 Duty Cycle + LEFT: 67% -> OK || Duty Cycle + RIGHT: 59% OK | VL:80 | VR:52 Duty Cycle + LEFT: 61% -> OK || Duty Cycle + RIGHT: 67% OK | VL:81 | VR:57 Duty Cycle + LEFT: 64% -> OK || Duty Cycle + RIGHT: 66% OK | VL:84 | VR:59 Duty Cycle + LEFT: 62% -> OK || Duty Cycle + RIGHT: 87% BAD ! | VL:83 | VR:52 Duty Cycle + LEFT: 63% -> OK || Duty Cycle + RIGHT: 81% BAD ! | VL:81 | VR:60 Duty Cycle + LEFT: 71% -> OK || Duty Cycle + RIGHT: 91% BAD ! | VL:79 | VR:51 Duty Cycle + LEFT: 56% -> OK || Duty Cycle + RIGHT: 34% OK | VL:77 | VR:60 Duty Cycle + LEFT: 59% -> OK || Duty Cycle + RIGHT: 49% OK | VL:77 | VR:57 Duty Cycle + LEFT: 72% -> OK || Duty Cycle + RIGHT: 82% BAD ! | VL:78 | VR:50 Duty Cycle + LEFT: 59% -> OK || Duty Cycle + RIGHT: 87% BAD ! | VL:80 | VR:56 Duty Cycle + LEFT: 72% -> OK || Duty Cycle + RIGHT: 64% OK | VL:82 | VR:60 Duty Cycle + LEFT: 60% -> OK || Duty Cycle + RIGHT: 75% BAD ! | VL:84 | VR:52 Duty Cycle + LEFT: 72% -> OK || Duty Cycle + RIGHT: 84% BAD ! | VL:82 | VR:59 Duty Cycle + LEFT: 59% -> OK || Duty Cycle + RIGHT: 73% OK | VL:84 | VR:60 Duty Cycle + LEFT: 64% -> OK || Duty Cycle + RIGHT: 56% OK | VL:82 | VR:51 Duty Cycle + LEFT: 71% -> OK || Duty Cycle + RIGHT: 76% BAD ! | VL:76 | VR:60 Duty Cycle + LEFT: 55% -> OK || Duty Cycle + RIGHT: 73% OK | VL:76 | VR:48 Duty Cycle + LEFT: 62% -> OK || Duty Cycle + RIGHT: 63% OK | VL:80 | VR:57 Duty Cycle + LEFT: 67% -> OK || Duty Cycle + RIGHT: 84% BAD ! | VL:81 | VR:59 Duty Cycle + LEFT: 61% -> OK || Duty Cycle + RIGHT: 66% OK | VL:82 | VR:52 Duty Cycle + LEFT: 69% -> OK || Duty Cycle + RIGHT: 68% OK | VL:82 | VR:60 Duty Cycle + LEFT: 61% -> OK || Duty Cycle + RIGHT: 61% OK | VL:83 | VR:60 Duty Cycle + LEFT: 72% -> OK || Duty Cycle + RIGHT: 86% BAD ! | VL:84 | VR:50 Duty Cycle + LEFT: 59% -> OK || Duty Cycle + RIGHT: 57% OK | VL:80 | VR:60 Duty Cycle + LEFT: 64% -> OK || Duty Cycle + RIGHT: 88% BAD ! | VL:77 | VR:58 Duty Cycle + LEFT: 69% -> OK || Duty Cycle + RIGHT: 70% OK | VL:78 | VR:50 Duty Cycle + LEFT: 59% -> OK || Duty Cycle + RIGHT: 58% OK | VL:78 | VR:58 Duty Cycle + LEFT: 67% -> OK || Duty Cycle + RIGHT: 86% BAD ! | VL:79 | VR:59 Duty Cycle + LEFT: 62% -> OK || Duty Cycle + RIGHT: 69% OK | VL:80 | VR:49 Duty Cycle + LEFT: 61% -> OK || Duty Cycle + RIGHT: 69% OK | VL:82 | VR:60 Duty Cycle + LEFT: 65% -> OK || Duty Cycle + RIGHT: 70% OK | VL:84 | VR:50 Duty Cycle + LEFT: 62% -> OK || Duty Cycle + RIGHT: 68% OK | VL:82 | VR:60 Duty Cycle + LEFT: 65% -> OK || Duty Cycle + RIGHT: 58% OK | VL:82 | VR:58 Duty Cycle + LEFT: 59% -> OK || Duty Cycle + RIGHT: 52% OK | VL:80 | VR:54 Duty Cycle + LEFT: 66% -> OK || Duty Cycle + RIGHT: 56% OK | VL:77 | VR:58 Duty Cycle + LEFT: 70% -> OK || Duty Cycle + RIGHT: 84% BAD ! | VL:77 | VR:56 Duty Cycle + LEFT: 58% -> OK || Duty Cycle + RIGHT: 59% OK | VL:77 | VR:49 Duty Cycle + LEFT: 66% -> OK || Duty Cycle + RIGHT: 37% OK | VL:79 | VR:59 Duty Cycle + LEFT: 58% -> OK || Duty Cycle + RIGHT: 55% OK | VL:80 | VR:60 Duty Cycle + LEFT: 66% -> OK || Duty Cycle + RIGHT: 89% BAD ! | VL:84 | VR:50 Duty Cycle + LEFT: 60% -> OK || Duty Cycle + RIGHT: 63% OK | VL:83 | VR:61 Duty Cycle + LEFT: 65% -> OK || Duty Cycle + RIGHT: 66% OK | VL:84 | VR:54 Duty Cycle + LEFT: 61% -> OK || Duty Cycle + RIGHT: 76% BAD ! | VL:80 | VR:59 Duty Cycle + LEFT: 61% -> OK || Duty Cycle + RIGHT: 75% BAD ! | VL:76 | VR:55 Duty Cycle + LEFT: 64% -> OK || Duty Cycle + RIGHT: 69% OK | VL:76 | VR:50 Duty Cycle + LEFT: 67% -> OK || Duty Cycle + RIGHT: 72% OK | VL:77 | VR:58 Duty Cycle + LEFT: 61% -> OK || Duty Cycle + RIGHT: 60% OK | VL:80 | VR:60 Duty Cycle + LEFT: 74% -> OK || Duty Cycle + RIGHT: 68% OK | VL:82 | VR:52 # x Duty Cycle + LEFT: 58% -> OK || Duty Cycle + RIGHT: 89% BAD ! | VL:81 | VR:60 Done!

Gruß Brainbug