Quote:
Originally Posted by Ether
Couple of questions:
Is the polar coordinate specified with respect to a coordinate system fixed to the robot or to the field?
Do you want to do this for arbitrary start and finish headings?
What type of drivetrain are you using?
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I am using the relative coordinates. What I did was use these equations: magnitude= (rightDistance + leftDistance)/2 and angle = (rightDistance - leftDistance)/wheelContactWidth to derive the left and right wheel distances that the robot needs to travel to get to the proper coordinate and then I just feed those values to two PID controllers (one for each motor). We are using a tank drive system. I know that the Integral controller would work a little, however I think that a trapezoidal profile would work better.