Thread: User Interface - Drivetrain Controls
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Unread 20-08-2010, 20:17
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Re: User Interface - Drivetrain Controls
Quote:
Originally Posted by Dkt01 View Post
The left joystick made the robot move straight forward, backward, left or right. We programmed the robot not to move at any angles because the PID couldn't keep the robot facing the same direction well enough. The right joystick controlled the robot's rotation.
What I think I hear you saying is that you used closed-loop speed control for the wheels, but when you commanded the vehicle to go, say, diagonally, it tended to rotate somewhat, even though no rotate command was being given. Am I understanding you correctly so far? And when you then "programmed the robot not to move at any angles" what you did was to add logic to command only fwd/rev or strafe, but never a combination of the two, and that corrected the problem so that the robot would now move either fwd/rev or strafe, with no unwanted rotation. Is that also correct?


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