Quote:
Originally Posted by JohnGilb
The driver had two joysticks:
1st: X/Y joystick movement controlled X/Y direction & magnitude of the robot relative to the field
2nd: X joystick movement controlled rotational rate relative to the robot
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OK, so let me read back to you what I hear you saying:
- You do closed-loop control of the vehicle speed as commanded by the radius1 of joystick #1
- You do closed-loop control of vehicle heading as commanded by the angle2 of joystick #1
- You do open-loop command of rotation rate as commanded by joystick #2 (X, Y, or Z axis?)
Am I understanding you correctly?
How many follower wheels did you use, and how are they mounted?
1 Do you use sqrt(X^2+Y^2) or max(abs(X),abs(Y))?
2 Do you use atan2(X,-Y) to calculate angle, or something else?