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Originally Posted by Richard Wallace
(Is Ether reading this?)
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I am lurking <smile>.
The 90deg/60ms discussion reminds me of a sentence in the last two paragraphs in the
swerve inverse kinematics paper1 I posted in March 2011.
Quote:
The 4 wheel speed and wheel angle pairs are now suitable for sending to a control algorithm which will decide how to actuate the steering and drive motors to achieve those speeds and angles for each wheel...
This is a separate and interesting problem, which may involve, for example, logic to reverse the wheel speed instead of steering the wheel 180 degrees (and similarly for other steering/speed commands). This control logic is highly dependent on the limitations of the vehicle design, such as the response of the steering motor...
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Does anyone have data showing how wheel speed and driving torque affects steering response?
1 FWIW, I recently wrote an integer-math implementation of swerve reverse kinematics for Anthony Lapp for a project he was working on to run swerve on ATmega2560. He has a video posted here.