定位轮安装指南Tracking Wheel Installation Guide
安装质量直接决定定位精度。Installation quality directly determines tracking accuracy.
4.1 位置4.1 Placement
| 要求Requirement | 原因Reason |
|---|---|
| 竖轮尽量在旋转中心的纵线上Vertical wheel should be on the rotation center's vertical line | 减少原地转圈时的误差Reduces error when spinning in place |
| 横轮尽量在旋转中心的横线上Horizontal wheel should be on the rotation center's horizontal line | 同上Same reason |
| 离旋转中心越近越好As close to rotation center as possible | 偏移越大，补正误差越大Larger offset = larger correction error |
旋转中心在哪？Where is the center of rotation? 一般在底盘的几何中心附近。可以让机器人原地旋转，看哪个点不动，那就是旋转中心。Usually near the geometric center of the chassis. Spin the robot in place and watch which point stays still — that's the center of rotation.
4.2 机械要求4.2 Mechanical Requirements
| 要求Requirement | 原因Reason | 不达标的后果Consequence if not met |
|---|---|---|
| 轮子必须完全平行/垂直于底盘Wheel must be perfectly parallel/perpendicular to chassis | 哪怕偏 2 度，走远了误差很大Even 2° off causes large errors over distance | 走 3 米偏 10cm+10cm+ drift over 3 meters |
| 左右晃动极小Minimal lateral wobble（掰不动的程度） (should be immovable) | 晃动 = 每次读数方向不一致Wobble = inconsistent reading direction | 误差快速积累Error accumulates rapidly |
| 轮子始终贴地Wheel must stay on the ground | 离地就读不到数据No data when lifted off ground | 定位直接失效Tracking fails completely |
| 用皮筋或弹簧向下压Use rubber bands or springs to press down | 保证过颠簸时不离地Keeps wheel grounded over bumps | 弹起瞬间数据丢失Data lost when wheel bounces |
| 旋转阻力越小越好Minimize rotational resistance | 阻力大 = 轮子跟不上机器人High resistance = wheel can't keep up | 读数滞后Readings lag behind |
| 皮筋力方向竖直向下Rubber band force should be straight down | 斜着拉会给轮子施加扭矩Pulling at an angle applies torque to the wheel | 轮子被拉歪Wheel gets pulled out of alignment |
怎么检查轮子是否平行？How to check if the wheel is parallel? 把机器人放在场地上，手推着它走一条直线（3米），看竖轮读数是否一直增长（不应该有来回跳动）。如果跳动，说明轮子歪了或者有晃动。Place the robot on the field, push it by hand in a straight line (3 meters), and check if the vertical wheel reading keeps increasing (no back-and-forth jumps). Jumping means the wheel is misaligned or has wobble.
4.3 最常见的错误4.3 Most Common Mistakes
轮子歪了 2-3 度，以为没影响Wheel misaligned by 2-3°, assumed it doesn't matter
→ 走一圈回来坐标偏了 20cmCoordinates off by 20cm after one loop
轮子没压紧，过坎时弹起来Wheel not pressed down firmly, bounces over bumps
→ 弹起的瞬间数据丢失，位置跳变Data lost during bounce, position jumps
在定位线程里打印数据到遥控器屏幕Printing data to controller screen in the tracking thread
→ 打印很慢，拖慢刷新频率（从 200Hz 降到 50Hz），精度下降Printing is slow, reduces refresh rate (200Hz → 50Hz), accuracy drops
编码器接线松动Loose encoder wiring
→ 偶尔读到 0，坐标瞬间飘走Occasional zero readings, coordinates instantly drift
横轮装反了（向右滚读出负值）Horizontal wheel installed backwards (rolling right gives negative)
→ x 坐标方向反了，机器人以为自己在镜像位置x coordinate is reversed, robot thinks it's at the mirror position
→ 解决：传感器设置里 reverse，或代码里取反Fix: reverse in sensor settings, or negate in code
4.4 偏移距离怎么测？4.4 How to Measure the Offset Distance
测量定位轮到旋转中心的距离：Measuring the distance from tracking wheel to center of rotation:
- 设定初始位置
(0, 0)，先把偏移距离设为0Set initial position to(0, 0), start with offset set to0 - 让机器人原地顺时针转 10 圈Spin the robot clockwise 10 full rotations
- 看程序报告的
(x, y)—— 理论上应该还是(0, 0)Check the reported(x, y)— it should theoretically still be(0, 0) - 如果 x 偏了，调整竖轮偏移（OFFSET_V）；如果 y 偏了，调整横轮偏移（OFFSET_H）If x drifted, adjust vertical wheel offset (OFFSET_V); if y drifted, adjust horizontal wheel offset (OFFSET_H)
- 反复调整直到转 10 圈后坐标几乎不变（x, y 都在 2cm 以内）Repeat until coordinates barely change after 10 spins (x and y both within 2cm)
偏移值有正负：轮子在旋转中心右边就是正，左边就是负。可以先量个大概值，再用上面的方法微调。Offset values can be positive or negative: right of rotation center = positive, left = negative. Start with a rough measurement, then fine-tune with the method above.