Thread: Drive Control, Wheel Speed Calibration, and Rapid Speed Changes
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Unread 23-01-2008, 20:28
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Re: Drive Control, Wheel Speed Calibration, and Rapid Speed Changes
1. A couple things you can do with this one:
-Ramping - You can try and create an exponential curve around the drive values, so that when you're joystick is at half speed, the motor drives at 1/4 speed, but at full joystick, the motor is full.
-Dead Zone - You want some sort of expanded neutral zone so that positioning the joystick on an unlevel surface doesn't cause the robot to spontaneously creep about...

2. No idea, sorry. I'd assume equal PWMs give equal speed, but if you're getting weird results, well, blame the mechanical team. (I have no clue.)

3. I'd think you could check this against a 'maximum delta' by saving your last motor speed, and only add that when your joystick value is way out of whack with your last PWM value. (I haven't written anything like this yet this year, although this reminds me I should, especially when doing this with our drive train de-chains the drive train. Thanks!)