Justin Poh
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Fixing the steering controller

2/7/2016

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Sadly, the steering controller problem was also the result of careless mistakes. Like the velocity calculation, the steering controller problem was the result of dividing by zero. When we were editing the subVIs that converted steering wheel angle to number of ticks of the encoder to make the type definitions all consistent, we had been careless and had not reset the constant that converted degrees to ticks to the correct default value. As such, the default value was left as zero instead of the correct value. Conseuquently, when we used that subVI to calculate desired steering wheel position in ticks (divide desired position in degrees by the constant), the resulting desired steering wheel position in ticks was always extremely large. As such, the steering wheel was always trying to turn to reach that very large number. 

The fix ended up being resetting that constant to the correct value and the steering controller seemed to behave normally again.
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    Welcome to the Gator Research Blog for the Sprint 2016 semester! The aim of this research will be to develop the software to enable drive-by-wire on a John Deere Gator and to begin developing a system for generating depth-registered images.  Follow our progress here!
Last Updated: 23rd March 2021
  • Home
  • About Me
  • Undergraduate Experience
    • Course Projects >
      • Mechanical Engineering/Material Science >
        • Design Nature, Fall 2012
        • Transport Phenomena, Fall 2014
        • Mechanical Design, Fall 2014
        • MechSolids, Spring 2014
        • Dynamics, Fall 2013
      • Robotics >
        • Principles of Engineering, Fall 2013
        • Fundamentals of Robotics, Fall 2014
      • Product Design & Development >
        • NEADS System Design, Fall 2015
        • UOCD, Spring 2014
        • Engineering for Humanity, Spring 2013
      • Electrical/Software Engineering >
        • Software Design, Fall 2013
        • Real World Measurements, Spring 2013
        • Modeling & Control, Fall 2012
      • Data Science & Analysis >
        • Analyzing Gait Data, Spring 2015
        • Crowd Flow Modeling, Spring 2015
    • Research >
      • Gator Research, Spring 2016
      • Gator Research, Fall 2015
      • Robotic Tuna Research, Fall 2014
      • Robotic Tuna Research, Summer 2014
    • Phoenix Racing
  • Resume
  • Job History