Differences

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--- projects:robots:sk8 [2023/12/16 10:54] – [sk8mini] jhagstrand
+++ projects:robots:sk8 [2024/05/07 23:02] (current) – [IMU] jhagstrand
@@ Line 76: / Line 76: @@
   * Max steering angle 27°
-^ resting helm angle ^ deck tilt ^ steering angle ^             ^
+^ resting helm angle ^ deck tilt ^ steering angle ^             ^ circumference ^
 |   0                |   0       |   0            |  amidships  |
 |                    |   4.5     |   6.75         |  1/4        |
 |                    |   9       |  13.5          |  1/2        |
@@ Line 86: / Line 86: @@
   * the pair of right wheels and the pair of left wheels will have the same angle
   * steering angle = rudder angle = wheel angle
+=== Throttle adjustment ===
 Develop direct ratio for rudder to right wheel throttle.
   * Consider turning radius and circumference of each wheel.
+  * develop ratios for both right and left wheels
+  * In future, we might use two motors
+radius = 245mm
+circumference = 245 * pi = 769.7
+axle width =
+right wheel TR
+left wheel circumference
+speed differential for each wheel depending on deck tilt
 === PID ===
@@ Line 169: / Line 182: @@
+IMU AHRS
+[[Inertial Navigation System]]
+Quiic cable
+^ i2c ^ quiic ^ arduino ^ sk8mini ^
+| scl | yellow | A4  | blue |
+| sda | blue | A5 | green |
 ==== AWACS ====