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well, that's sort of what i want (i think). and it wasn't to make forward and reverse speeds equal either. from what i've been told, one drill motor runs in reverse, one runs forward, no matter which way you're going. the way they're mounted, it's always like that (unless you mount them funny). so, unless you leave it to the driver, which i don't want to do, you have to reduce the motor output on the side going forward. that way, the robot goes straight, instead of curve (Because on skid-steering, when one side is faster, you turn). i think that algorithm should work, i'll play around with it tomorrow and see if it works.
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