- Mon Jan 12, 2015 3:12 am
#178561
Well, it's just about neglecting every ISR invocation (configured for RISING) if the last one occured at shorter interval than some predefined one which is known to be above fastest tick possible. Seems working, cause the results are stable (at least as stable as cogwheel plastered all around can be I guess), but there is no need for further improvements unless I fix another hardware problem:
The chassis I've got has the third wheel like those in shopping mart carts instead of ball (I can't even find a photo, seems I've received some old model and it is not being sold with such wheels anymore). This wheel often doesn't want to set correctly on straight movement and is affecting the bot direction.
The chassis I've got has the third wheel like those in shopping mart carts instead of ball (I can't even find a photo, seems I've received some old model and it is not being sold with such wheels anymore). This wheel often doesn't want to set correctly on straight movement and is affecting the bot direction.