LEGO® Mindstorms EV3 plotter drawing a detailed Hilbert Curve скачать в хорошем качестве

LEGO® Mindstorms EV3 plotter drawing a detailed Hilbert Curve

This is an updated version of my Plott3r. This is drawing a detailed Hilbert curve - line lengths ~2.5mm long. The system attempts to detect the backlash in the x-axis. This is what you see the pen holder do just after it's moved fully over to the right. It moves the holder back and forth 5 times, detecting when the switch changes state. It then uses the average change in the motor as the backlash compensation. Now, whenever the pen-holder changes direction in the x-axis this compensation is applied prior to the actual move, thus compensating for the inherent backlash in the x-axis drive. Although it's always existed, this now shows up the y-axis backlash. That is the next area to be addressed. More information on this project can be found at http://jander.me.uk/LEGO/plott3r.html