Quote:
Originally Posted by themccannman
I think what he means to say is that it gives them near perfect wheel control. As soon as the motors are stopped so do the wheels while requiring little to no active braking from the motors. Would make for a very jerky robot without proper PID control though.
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not just a full stop, it also prevents any unwanted changes in speed. so if something is trying to accelerate or decelerate us that force is going to be put into the chasis instead of the motor. So as I stated if we want to go a set speed, any changes in speed will be met with extreme resistance other than what we tell it to be. Also I tested a PID loop earlier today that seems to work extremely well, so much so that the only issue was that when loaded down too much it would draw 80-100A and shut the jaguars down. I have a video of my PID loop with the old transmission, and the only difference a load makes is higher current draw, the tracking is just as good.