Quote:
Originally Posted by ollien
How do you accomplish this? Do you just set your setpoint proportional to the position of the stick?
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We did not use it to execute a turn or follow a path while driving. It was only used to make a stationary turn or maintain a heading for a "drive straight" mode similar to the example in your original post.
For tele-op drive straight, a button on the xBox controller sets the current heading as the desired heading value then replaces the driver's rotation joystick value with the output of the heading proportional controller. Essentially the driver is only controlling thrust at that point and the loop maintains heading.
For our use, a proportional only loop worked but you could set up PID and experiment with the tuning.
David