Quote:
Originally Posted by Ether
You use the encoder speed signals (suitably scaled) as the process_variable input to the corresponding closed-loop controllers.
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What's the best way to go about "suitably scaling"?
Is it as simple as running the drive wheels at full speed, getting the max encoder rate output and then multiplying our joystick values (from -1 to 1) by the max rate? Would this still work even with varying battery levels and all other factors?