Quote:
Originally Posted by gnirts
How does the entire 'bot move forward with only one motor out of the deadband? I would think it would turn around that wheel.
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A well-built four- or six-wheel drivebase will tend to go straight when a forward force is applied to it at any location. Imagine a skateboard -- when you push off with a foot to one side, you still go the way the wheels are pointing.
The PID control was only used for positioning during autonomous, though the code originally also had the ability to use speed control instead of power control for normal operation. I have yet to find a driver who prefers that option.