Quote:
Originally Posted by Invictus3593
Dang, I just tried it out. So i guess the accelerometer route is a dead end.
What do you think of the encoder idea? I mean, you don't have to worry about gravity or forces or anything with them, just rotations of the wheels.
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If you're using a properly-programmed true swerve drive*, you can compute position and orientation of the vehicle from the encoders on the wheels. But this introduces a different set of errors due to the dynamic response of the steering and wheel speeds in response to rapid changes in command. And all it takes to throw the computation off is one good bump that changes the orientation of the vehicle.
If you're using a skid-steer drivetrain, the relationship between the powered-wheel encoder readings and the actual vehicle movement during turns gets muddied considerably in ways that may not be easily predictable. Probably not a good solution.
*ie independent steering and drive for each wheel, with properly programmed steering angle and wheel speed for each wheel.