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Originally Posted by Rick TYler
Our programmer is convinced that his encoder-enabled PD code isn't working right because the robot is on the cart with the wheels off the ground, and that it would work if it was tried on the floor. Is this your experience?
The biggest problem is speed oscillations in the wheels (speed goes up and down).
Thanks!
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I had this problem too, and I can attest to the fact that it will help some to have it on the ground, but those oscillations will still be there. The PID loop relies on the mass of the robot to smooth out some of the oscillations, as well as a nice small timeslice. If the code takes too long between corrections, there will be no way to fix it without sacrificing "snappiness".
Hope this helps, and please correct me if I'm wrong!
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