Quote:
Originally Posted by lopsided98
I was in a hurry when I wrote my last post (time restricted unbag periods are mixed blessing), so I'll try to explain the problem I am running into better now.
I was generating this waypoint sequence:
When the trajectory was generated, it seemed to ignore the max acceleration and velocity values. The left and right trajectories accelerate extremely quickly, reaching 25 m/s within 0.01 seconds (also, jerk was around 24000  ). The speed maxes out at 25 m/s. I never checked the source trajectory, so I don't know if the it had the correct velocity values.
I just realized that I was not using the real wheelbase width, only a dummy value (0.5 m), but this is still reasonable and should not have caused this problem. |
I just generated a source trajectory with the values, and it seems absolutely fine, so I'd instead suggest that the issue is with the follower instead. The only thing I can think of is that the encoder values or kV or kA terms are incorrect in your follower, causing the issues.