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The Tricycle Robot: A Mobile Programmable ‘Drive-by-Wire’ Electric Vehicle

Excerpt

A forerunner to (i) hexapod and vehicle motion behaviour patterns in a ground plane and (ii) the use of piecewise truncated Taylor series to solve complicated equations using integer numbers

3.1Introduction
3.2Description of tricycle components
3.3The tricycle microcomputer system
3.4The dual push-rod mechanism that actuates the tricycle drive wheel
3.5Kinematic analysis of the push-rod mechanism
3.6So, what can Basic Stamp microcomputers compute?
3.7Wheel servo computation algorithm to rotate drive wheel
3.8How to compute servo angles, LS and RS using the Basic Stamp microcomputer
3.9Basic Stamp 16-bit integer accurate computational method
3.10Making the equations in table 3.2 suitable for the Basic Stamp microcomputer
3.11The Tricycle steering system
3.12A Planar Odometer that computes vehicle location coordinates, x, y, ϕ
3.13Odometer algorithm to compute x, y and ϕ
3.14Programming of the tricycle to undertake a figure-of-eight locomotion path
3.15Some tips for odometer computing with the Basic Stamp
3.16Complete PBasic figure-of-eight programming code listing with comments and explanations

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