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Originally Posted by Jogo
Alright, I'm starting to understand. In the case of holonomic, there is usually joystick 1 (fow/rev and strafe), and joystick 2 (rotation).
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That is one of four popular ways to do it. It's called Halo-style. See
this link for 2 other ways. A fourth way is to use a 3-axis joystick: X, Y, and Z (twist).
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Would it be advisable to use a P/PID function that controls the rate of rotation of the robot? For example, if joystick 2 is at (0,0) but the gyro senses 5deg/sec, make some corrections.
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If your drivetrain is well-designed and balanced, and your wheels are carefully aligned and the mec rollers spin freely, and you use PID to control the 4 wheel speeds, it shouldn't be necessary.
But you can if you want.
Here's one way.
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No reason to use P/ID on fow/rev and strafe?
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Right. Besides, how are you going to sense fwd/rev and strafe speeds for the PID process variable input? With a couple of idler wheels?