I was curious if there was a way to determing if the inability to tune the proportional value is due to an external factor. It seems any time I increase the wheel size beyond a certain point, I can no longer tune P. No matter how I change P it never stays on the line so technically I can’t even start tuning the other values.
I’m wondering, is the wheel size causing the moment of inertia to increase and thus making P more erratic and unstable? Also, would it make a difference, in this case, if I had PWM at 16 bit or 8 bit?
I tried putting the sensors closer together which seemed to give me a slightly better result but still, no P value will keep the bot on the line.
Specifically, how would I determine:
+is my MCU reading the line fast enough to make accurate decisions?
+is 10 bit a high enough resolution for my ADC?
+is 8 bit PWM a high enough resolution?
+Using analog QTRs I am taking four samples, will it work better with more samples or less?
+Is my line follower too heavy? This one is tricky because I guess, if it isn’t skidding through the corners at the desired speed it should be okay right?
Sorry for so many questions all at once, I appreciate any help. I am trying to make a really fast line follower in hopes of entering a competition. I am assuming that there is a way to know all of this information otherwise the winners of these competitions wouldn’t all be running at speeds around 3ft/s, they would be running faster. I am only able to get up to about 2ft/s before P is not tuning properly.