Quote:
Originally Posted by Tom Bottiglieri
Your slip will be out of the threshold most of the time with the current algorithm. Unless the joystick values are ramped or rate change limited, you will experience jitter as the slip passes in and out the threshold. This will happen very often. (The slip will drop, wheels will spin out, rinse, repeat.)
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Having helped program a bot who's traction control system works by just reacting to slip, I would disagree. It is better if you have some code to try to prevent slipping by ramping up the output power, but it is not necessary. You can add the ramping code in after you get the basic algorithm working and decide that you want more.