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Possibly the reason why treaded robots push around wheeled robots at times in FIRST is because wheeled robots get into dynamic friction situations by not having a traction limiting program, like PID control.
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PID Traction Control -- unless each wheel on a given side is indepedently driven from the transmission, what reliable way exists to tell the difference between wheel speed and robot speed? Being able to tell the difference in traction loss vs. the robot turning seems even more difficult to grasp.