Quote:
Originally Posted by dtengineering
There was no mention of just using the encoders to limit accelleration. Since the robot (plus trailer) should be friction limited to an accelleration of 0.5 m/s2 then you just need to make sure the wheels never pick up speed any faster than that.
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I talked with our lead programmer about traction control last night...I think the plan is to use just the encoders to detect wheel spin, as a sudden increase in wheel speed, then back off power to get the wheel speed back to what it was before it spun, then ramp power up again till it spins, back off, etc. My guess is that spinning could be limited to a small part of a revolution, since the kit encoders have such high resolution.
Also...turning it off....the plan for now is to turn the steering wheel to turn traction control off.
