Quote:
Originally Posted by Ether
Question for those teams who have incorporated wheel speed reversal (for better steering response) into their swerve control software: what inputs and thresholds did you use?
For example, what steering angle threshold did you use to enable wheelSpeed reversal? 90 degrees, or something greater? (and was this determined empirically or by analysis). And, did you factor the wheelSpeed process variable into that decision? (i.e the angle threshold varies with the wheel speed).
Also, did you look at what the other wheels are doing, was each wheel controlled independently?
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Currently it's right at 90 degrees and all four wheels are independant.
We plan to test and tweak up until season, we have discussed the following;
-Changing angle for determination of "shortest path" based on current steering speed (as you really want the fastest path, not the shortest path).
-Generating steering paths as a function of all 4 wheels to ensure they always place nice.
-Some sort of filtering and prediction on the inputs from the joysticks to save slight amounts of time in steering (being able to determine if the driver is going all the way to the other side, or merely returning to center, etc...).
-Recording all variables, inputs and outputs for the entire drivetrain and graphing overtime to better understand what is happening.
We chose to steer with window motors are they are the worst motors in the kit, we knew it'd be trivial to change to other motors for season and the windows would force us to truly optimize the code to make the system as responsive as possible (like I've said before, I want a driver from our team, 254, 330, 1538, etc. able to drive it without complaining about the lag time. These are all teams that usually go with very fast and responsive 6wds here on the west coast).