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Originally Posted by forbes
What's the best way to go about "suitably scaling"?
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[1] The setpoint and the process variable must be scaled and offset so that they are numerically equal (difference is zero) whenever the wheel is going at the commanded speed.
[2] The max (and min) setpoint command must be achievable over the range of operating conditions for which you want the closed-loop to be able to operate.
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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?
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If by "running the drive wheels at full speed" you mean full unloaded speed, that will satisfy [1] but not [2]. When the wheels are loaded and a command of 1 is given to some wheels, there will be no headroom for the closed-loop controller to achieve the commanded speed, and your wheel speeds will be kinematically incorrect.