Linux robots

[kentborg at borg.org (Kent Borg)]

On Tue, Feb 22, 2005 at 12:05:46PM -0600, Jack Coats wrote:
> I suggest using it for 'interum' position information rather than
> absolute, due to wheel slippage.

A Grey Code (http://en.wikipedia.org/wiki/Grey_code) is a cool way to
measure wheel position.  Read frequently for precise timing
information, but if you miss a pulse you can still read absolute
position.  I you want precise info without too many bits of code
repeat the code multiple times around the wheel--just don't go to
sleep longer than it takes to turn beyond the reach of one copy of the
code.

-kb