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Originally Posted by vigneshv
It is a 6 wheel tank drive with the encoders on the gearbox. It just matters if the gears on either the left or right gearbox turn. Thanks!
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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.
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Originally Posted by Ether
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.
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Originally Posted by gpetilli
We got our velocity loops working this past Saturday... The robot clearly actively resisted any movement. When forcibly kicked two feet out of place, I was surprised but the robot actively returned to the original position and orientation
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Quote:
Originally Posted by gpetilli
As a point of clarification, we are not using encoders on the gearboxes - we have small, undriven follower omni-wheels with encoders to feedback velocity to the PID on the cRIO. This means that if the driven wheels lose traction while being pushed (or we spin wheels during hard acceleration) the PID still detects and tries to correct the movement... we are using a holonomic drive (modified Killough)
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Well that's a horse of a different color.