Quote:
Originally Posted by gerthworm
Also, you did mention something about total distance of each wheel being all that is necessary - this isn't 100% true - ...For this reason, the path planner would need to calculate velocities at all times, and the control algorithm needs to get the sides of the drivetrain to those velocities.
|
I see your point exactly. Attached is a snapshot of the position and velocity graphs. For this particular run, ending coordinates were (2.96, 1.31, 49) I put an IMU on there today, so that measured heading is more reliable. I doubt we can reliably tune to better execution than this
I haven't yet redone the path with lower max velocity...that is next.
I would still very much appreciate someone generating a path that has the same starting and ending coordinates and posting it. We will execute that path and see what happens. I would like to be able to take the path planner away as the culprit if I can. That would allow us to focus on execution and understand the limitations.