Thread: Swerve path and motor trajectory generator?
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Unread 22-05-2015, 23:22
Gdeaver Gdeaver is offline
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Re: Swerve path and motor trajectory generator?
I assume that you have a functioning swerve chassis. Before you start on figuring out path planning, can your robot drive straight. If you command it to drive 20 ft straight ahead can your current platform do it? With perfect alignment and say 10 or more test can your robot go perfectly straight every time? What is the error spot. If your swerve can't drive straight then your not ready to tackle path planning. We have found that for autonomous navigation with our swerve required the minimum of adding the kit of parts gyro and a PID control loop to drive straight. This year we used the Navx MXP. We have encoders on all wheels to measure wheel rotation (distance). Are you to this point yet? If not you have allot of work ahead.