[Rob]

Hello,

While I am no expert on our system, I can offer a few pieces of quick advice that will hopefully help you out. First, the advice on tunig PI given above is excellent.

I have two items to add:

First: Be sure that your slip ratio is being calculated correctly. You need to normalize the encoder counts that you get from your drive wheel to be the same that you get from your follower wheel. Often the follower wheel is much smaller than the drive wheel, so you may get more encoder counts per linear distance traveled from the follower that you get out of your drive wheel. (I hope you are using a follower wheel, if you are using an accelerometer you may have problems with noise from vibrations).

Second: Be sure to tune the control gains in a controlled practice environment. If the system is improperly tuned it can hurt your driving performance badly, making the machine tough for your driver to operate. Tunig the gains is a trail and error intensive process where you want to be able to make small changes and then test, lather, rinse and repeat. If you are making changes in your pit between matches then you will likely get unprdictable performance in your matches. Your best bet would be to try and block out some time on the practice field, or maybe somewhere in the pit where you can set up a few sheets fo the floor material to test driving on.

Good luck, I hope your system works well for you!