Steady-state yaw error during driving tracks to zero across the full linear velocity range (a bug had previously reduced yaw control accuracy at high linear velocities).Yaw targets are typically hit within +/-1 degree of the IMU reading.Default yaw slew behavior is dependent on the magnitude of the commanded linear velocity (to make deliberate, slow driving easier).User-adjustable yaw and linear velocity slew rates.State 2: Drive along the target heading.State 1: If currently stopped, spin in place to face the target heading.Actual top speed increased to 2 m/s (maximum speed will eventually drop below this as the battery discharges).All control systems present a normalized interface, similar to current roll commands, and an SI units interface where linear velocities are specified in m/s and yaw angular velocity (if applicable) is specified in degrees/s. This update replaces the “roll drive” controller with a higher-performing, more configurable implementation and supplements it with 3 selectable alternate control systems. Previously, one driving control system was available to users through roll commands, requiring a target heading and a target speed, with an optional reverse flag. You should see 8.3.432, 8.6.448.įull RVR Firmware Change Log : Control System To confirm you have the correct firmware, click on the "connect" button and review the firmware numbers.Depending on your device, this may take between three and 7 minutes. The Sphero RVR firmware update will automatically start.Start the Sphero Edu app on your supported device and connect to your Sphero RVR.Ensure that your supported mobile device is connected to the internet (Wi-Fi or a cellular connection).Ensure your Sphero RVR is charged and powered "on". ![]() In particular, you will need Sphero Edu 6.0.1 or newer on Android to update the RVR firmware. Please ensure you are using the latest Sphero Edu app.
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