Hi,
1. during autonomous why did you apply control only to the speed and rotation of the drivetrain wheels? there are other options like DFL or IOSFL and I was wondering why you didn't choose an option with regulation for the robot's absolute position and and heading.
2. Can someone from 971 please explain how did they use integral control and how to tune the gains matrices for LQR? also in your auto, did you use LQR for the trajectory? if so can you explain how you did that?
You can read more about DFL, IOSFL and posture regulation in this slideshow:
http://www.dis.uniroma1.it/~deluca/r...ingControl.pdf
Any help will be greatly appreciated
