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Re: 4WD Turning Difficulties
That sounds simillar to an idea I had about traction control. In cars its called ASR(Anti-Slip Reduction), the controller would have a set of known speeds that would equal to a set of rpms. For Example:
5fps=50rpm
10fps=100rpm
15fps=150rpm
Now while the robot is driving on the slick surface, the wheels start to slip and spin out(the rpms increase above the set known speeds)
5fps is not equal to 300rpms acorrding to the controller.
Therefore, the controller would reduce power to the motors so that the speed(fps) and revolutions of the wheel (rpm) meet the rules set by the knowns. This system in effect doesn't increase traction but keeps the wheels from spining out.
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