Quote:
Originally Posted by Jared341
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4. Making sure that weight is distributed evenly! The vector math assumes all wheels have equal normal force - if your robot is far off from this assumption, your mileage will vary.
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Can you adjust each motor's signal based on the ratio of normal forces? That is, if you know the percentages of robot weight borne by each of the corners, can you compensate for that by varying the command to each? This might also be useful for bump-climbing when the weight distribution on even a perfectly centered CG 'bot gets totally skewed.