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Originally Posted by Andrew Schreiber
Working on similar. One issue I've been running into is the transition between turning and not turning. On the comp bot (H drive) this year we just have the driver toggle between heading lock mode and not. But that's not really a great solution long term. Any suggestions?
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You want "heading hold" when the driver is not commanding a turn, right? Use whatever joystick input commands the turn to turn off heading hold whenever it's not at neutral, and turn it back on again after the turn is finished. That could be as soon as the joystick is back at neutral, or it could be slightly delayed to account for the robot's inertia. See how the driver likes the handling with various amounts of delay in the reactivation of heading hold mode.