Thread: Top Speed
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Unread 12-12-2003, 17:07
KenWittlief KenWittlief is offline
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Re: Top Speed

I would try closing the steering loop with the yaw rate sensor that FIRST supplies - It may seem slow, but you very seldom need to spin your bot around quickly

and the fact that your bot can turn that quickly, means you have a lot of gain available, which will allow you to close the loop with the yaw rate sensor and have the response be very tight

this is one of those concepts that are hard to explain - to be very accurate and precise, you system needs to be powerful - more powerfull than necessary for the task you are trying to perform

then you can use a large amount of negative feedback, and the response will be quick to your commands - not that it will turn quickly, but that it will quickly do exactly what you are commanding it to do.

so if you move the stick slightly, and want the bot to turn very slowly, it will immediately begin to turn very slowly, and it will continue to move very slowly at the same precise speed, no matter what gets in its way (other bots, obsticals)

to put it another way, you must have great strength in order to be gentle.