Quote:
Originally Posted by ellisk
So, if I understand your algorithm correctly, it works like this (for each side):
1. Get the acceleration according to each encoder on the transmission
2. If the acceleration is too high, compute the ratio:
maximum_acceleration / real_acceleration
where maximum_acceleration is determined experimentally. Then, multiply the desired motor value by said ratio.
Is that right? So do you just ignore the velocity according to the encoders on the omni wheels (undriven wheels)? It sounds simple, but it also sounds like it could work (occam's razor ftw).
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Yes, except I actually am just using a constant instead of the ratio; I am going to try that ratio idea, though; I rather like it, and it may work a bit more optimally, as well.
I do ignore velocity, and we don't have any omni encoders, and I haven't installed our accelerometer or gyro yet. The one thing I could add would be a comparison to test for real time slipping -- this will only occur if we get in a shoving match, especially against a wall, but in those cases, I trust our drivers to compensate.
Occam's Razor always wins.