Datasheet

Chapter 1: Mechanical Adjustments · Page 21
The distance traveled will not be exactly the same because the servos don't turn as fast
with 40 ms pauses. This means that you'll probably have to use a little less than twice as
many pulses with 20 ms pauses to match the distance of the program with 40 ms pulses.
√ Tune the
EndValue in the FOR...NEXT loop with the 20 ms pauses to get as
close as possible to the distance traveled with 40 ms pauses.
How Much Time Can the SumoBot Take between Pulses?
ForwardLowTimeTest.bs2 can also be used to determine the maximum PAUSE Duration
between pulses before servo slowdown sets in. You can do this by measuring a servo's
speed with a 20 ms low time, then again with a 21 ms low time, then 22 ms, and so on.
√ Slip a jumper wire under one of the rubber band tires as shown in Figure 1-7.
This will serve as a marker for counting wheel revolutions.
Figure 1-7
Jumper Wire Marker
under Tire Tread
√ Start over with an unmodified version of ForwardLowTimeTest.bs2.
√ Begin with the
LowTime constant set to 20, and run the program.
√ Press/release the Reset button to start the servos, and start counting revolutions.
√ Press/release the Reset button 10 seconds later, and make a note of how many
revolutions the wheel turned.
√ Multiply this value by 6 to calculate the servo's rotational speed in RPM. For
example, if the servo turned 8.75 revolutions in 10 seconds, the servo is turning
at 52.5 RPM:
√ Change the
LowTime constant to 21.
RPM52.5
minute
srevolution
52.5
minute
seconds60
seconds10
srevolution8.75
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