Quote:
Originally Posted by biojae
Could an accelerometer account for the deflection?
and how was the spline calculated?
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We might have been able to use an accelerometer, but we heard enough stories about people trying to use one for traction control and determining that it wasn't working well that we didn't bother to try. It also was at the point of diminishing returns, since the bot didn't skid sideways very much anyways.
I don't recall the equation, but you can spend some time on the wikipedia page or the internet in general and get a parametric equation for the cubic spline.
Quote:
Originally Posted by biojae
The steering seems to me the hardest part. What variables did the PD loop control ?
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turn = error * k1 + (error - lasterror) * K2
left = 1.0 + turn
right = 1.0 - turn
Like always, the hard part is tweaking the constants.