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 Rank: Newbie Groups: New Members, Unapproved Joined: 16/01/2025 Posts: 2 Points: 6
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I just finished building R2-D2 and initial systems checks are all green. Lightsaber elevates and descends. Arms extend and retract. Holograms project. etc.
Everything except patrol mode. When this is activated, it just goes in circles (clockwise). I have tried activating it in a larger room with the same problem.
Manual mode can move left, right, forward, and backward, so it's not a motor issue. I think it's a sensor problem, but I'm not sure which sensor.
I'm hoping someone has had a similar problem and found a solution.
Any ideas?
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Are you using him on a tiled floor as gaps in any flooring will have an effect on his movement. Mark
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Rank: Newbie Groups: New Members, Unapproved Joined: 16/01/2025 Posts: 2 Points: 6
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No tile. It's hardwood and vinyl.
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This is an odd one.
When this feature was originally designed, R2-D2 was to have more sensors in place so that it could better avoid obstacles. However, the adding of more sensors would have significantly changed the overall look of R2-D2. As a result, we only included three ultra sound sensors (one at each shoulder and one in the centre) and one touch sensor on the R2-D2 to keep its look as original as possible.
This sensor configuration has its blind spots and limitations. Based on test results, it performs reasonably well in more open area’s with less furniture. However, its limitation starts to be more apparent in crowded area’s (more furniture and accessories on the floor such as cables).
The shoulder sensor has an effective range of more than 30 cm and the centre sensor has an effective range as close as 5cm. This means that the shoulder sensor won’t be able to detect anything which is less than about 30cm from it. If the R2-D2 starts patrol mode when one of its shoulders is already quite close to a wall (i.e. less than 30 cm from it), there is a good chance that it will not see the obstacle.
The ultrasound relies on sound waves being bounce back to the receiver. When the approaching surface is at an angle of more than 45 degree, it may not detect it as the sound wave will be bounced in a different direction instead of back to the receiver.
It might be worth checking the shoulder and centre sensors to see if the connector/contacts have been correctly installed into the board, bent pins etc.
Mark
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