At the end of May, we joined 150,000 engineers and hobbyists at Maker Faire Bay Area to do what we do best -- connect people and encourage family togetherness. With Ohmni, we showcased how we bridge large and small distances to bring people together with those who matter most.
Here are some special thanks from our co-founders, explaining how much their family matters to them and why they are now giving to those who gave.
Our robots are designed with a very natural input to movement velocity control system. It is very similar to a First Person Shooter (FPS) game where pushing a forward button, a velocity signal (a jog signal) is sent to the base, and the robot will go forward. When the button is released, the jog signal ends, and the robot will come to a stop. From a user experience point of view, velocity control is the most intuitive and responsive approach to controlling the robot.
The velocity is calculated by an absolute encoder and controlled using a Proportional - Integral - Derivative (PID) algorithm. The proportional term is for the fast response time whenever a jog signal is sent and the Derivative term is for stability. The most important term is the Integral. The integral term ensures that the motor reaches the user’s desired velocity, meaning that the motor will be able to draw more current dependent upon the current torque applied to the wheel.