Quote:
Originally Posted by pmattin5459
And I would recommend using encoders. Any system not measuring the motor's output is highly theoretical and can be influenced negatively by a variety of real-world factors, including friction in the gearboxes, differing traction on each side due to weight distrobution, etc.
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We are indeed using encoders. We are using Team 254's TrajectoryLib found here:
https://github.com/Team254/TrajectoryLib
The algorithm calculates smooth position and velocity curves in order to get the robot to follow a smooth path. As the robot follows the path, the algorithm compares the position measured by encoders to the theoretical position and adjusts motor output accordingly.
The reason I'm asking about maximum velocity is because the algorithm requires the maximum velocity of the robot in order to generate the path and to set the motor outputs correctly.