Quote:
Originally Posted by billbcc91
For autonomous last year we simply used dead reckoning. We tuned it in using trial and error. The controller is programmed to apply "X" volts of power to the drive motors for "Y" seconds. This is easiest for driving straight ahead, but you could program some turns in too.
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FYI, dead reckoning includes navigation using any measurements that are relative (i.e. encoders and gyros). See
here.
A new feature of the CAN Jaguar will make the approach you used last year more repeatable than it used to be without the dependency on wiring and mechanically attaching encoders. The mode is called "Voltage" mode in the CANJaguar implementation. It allows you to specify the actual voltage you want to output to the motors, instead of the percentage of the input voltage (the way PWM works). This means that even as your battery voltage varies based on less charged batteries or different aged batteries, etc, the Jaguar will compensate for the input voltage and keep the output the same each time. This does mean that you should avoid requesting voltages from the Jaguar that will only exist in a fully charge battery (such as 12.5V).
You can also use this mode with RobotDrive by configuring the MaxOutput parameter.
-Joe