SDC 2150 closed loop speed

Hi all,

i'm trying to let a robot run with 2 wheelchair motors. I could explain what he has to
do but here he is (with a previous arduino - MD03 controller combination who failed :-)

www.youtube.com/watch?v=Wf-bXM4LlS0
www.youtube.com/watch?v=mTa9aHmF93w
www.youtube.com/watch?v=MaZRc0f83oo

Maybe explain : if the robot pushes against the wall , the amps go op on both motors
but i want to be sure the robot is actually standing still by measuring the wheel speed
and see if it dropped to 0. In that case, the robot runs backwards , makes a 45° right turn
and continues along the wall. My experience is that amp-measuring alone (like i did on the
arduino) was not enough, it happened more then once that if the robot had to work hard, he
made an unexpected turn too soon - and on the other hand, if i increased the amp limit, it
happened that he was pushing against the wall and made wheels slip causing a endless loop.

The problem i have is that i want to work with a closed loop speed mode but i'm left in the
open on how to implement it.. I could add optical aprroach switches on the tooth wheel
of the main wheel. Problem is that the main wheel runs pretty slow. And i don't have the
opportunity to add hi speed encoders to the motors itself. Any ideas for that ? Do i just
have to write a script that measures the time between each tooth recognition? and if it
goes beyond lets say 2 seconds, and the amps go above 6 , i could make a turn. Are there
any samples of microbasic scripts for that?

thanks allot for any help .
Bart

We don't have any sample scripts that do what you are looking to accomplish. What is the current being currently used? How much of a change over in amps are needed to require a different motor command? Granted, your script would have to query some information, and upon receiving certain information, changes to the motor command can be made.