What is our life? The game!
This story began almost a year ago. We sat with a friend like that and thought, “What if we make a system for playing via the Internet? I mean, control of real robots? "
No sooner said than done ... the "robot" began to boil ...
In the process of preliminary discussion, the design "a la tank" was chosen - that is, 2 wheels with separate engines, without a steering system at all. This system gives the robot high maneuverability and the ability to turn 180 degrees while standing still. In addition, a side effect of such a turn - is the ability to hit the puck (if there is a stick) - at this point, many should remember the game "table hockey" - where hockey players rotate on their axis and thus - hit the puck.
However, this arrangement of the undercarriage caused big problems in the future. Why: 2 separate motors will never run at the same speed unless they have a rigid mechanical connection. Why: the difference in manufacturing at the factory, errors in the fit and wheel diameters, etc. etc.
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What is planned to be done next: since sometimes there is some slowdown of the commands passing through the MQTT broker (perhaps this is due to the use of a public free MQTT broker and, in general, the MQTT protocol, which is not quite suitable for these purposes) - we are thinking of transferring the entire system simply to websockets, no MQTT. Or, use your own, separate MQTT broker. By the way, about this point, it will be very interesting to hear the advice of knowledgeable people on how we can best implement the connection for stable control.
While the project is at this stage.
The picture at the beginning of the post is used only to attract attention. The project has no name yet.