Quote:
Originally Posted by WizenedEE
The general method that I'm thinking of would be to use the difference in the encoder distances as the error for a PID loop. I would use the arcade drive function, since the PID would "output" how fast you should turn.
Also, when you say "tank drive" it sounds a little like you're saying you want to use it during teleop. Is that correct? I think it may get annoying for drivers if they want to turn just a little while going forward, and you'll have other logistical issues to think about.
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We would have been fine with doing this for only autonomous but the robot really doesn't go straight for more than a few feet, which would annoy the driver. We tried adjusting the ratios of motor speeds and went pretty straight for 10 feet, but slower.
In any case, how would we achieve this in autonomous? Give examples in Java preferably.