Quote:
Originally Posted by gpetilli
If you have left and right velocity PID loops to your gearbox encoders, it should allow the robot to old it's ground since any movement will be an error verses the commanded zero velocity. If the two loops act independently, they should also hold orientation.
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I question whether velocity PID based on rate feedback from drivetrain gearbox encoders will allow the bot to re-establish its orientation (or even position) after an impact.