Quote:
Originally Posted by billbo911
Hate to burst your bubble Dunngeon, but the gyro stabilized Kiwi drive in the video has no PID control at all.
I'm not saying that all omni drives would not need it, I'm just saying that this one didn't. I have a suspicion that it is entirely dependent on the drive train and how the control code is implemented.
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Interesting, I didn't realize that teslalab2 was referring to your video.
The reason I said yes to the PID loop is that if the end goal is to have something be held by the bot, or for the bot to be heavy, our team has had very good success using P-control in those scenarios (very little oscillation, if at all).
In your heading control are you just adding a rotation value to make it rotate in the opposite direction whenever the heading changes to something other than 0 when translating?