Quote:
Originally Posted by Jogo
When I stated "This also enables us to vary the max value for the turning axes based on the robot's forward speed," I meant that we found at high speeds, a slight tap to the side on the joystick will send the robot flying away. So, for example, when the robot is moving 1.0 (full speed) in the y-direction, then we might only allow the robot to move up to 0.1 in the x-direction. When the robot isn't moving in the y-direction, then we allow the full 1.0 turning speed.
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Well, that makes sense from a physical point of view. For those of us old enough to remember driving cars before the days of power steering, think how hard it was to turn the steering wheel when the car was not moving (like while parallel parking).
To address this problem, you could use the
2-parameter g(x) function, and treat the "b"
inverse deadband parameter like a variable instead of a tuning constant. In other words, adjust the value of "b" (for the rotate axis conversion) as a function of speed before running your joystick rotate axis through the g(x) conversion.
caveat emptor: I've never tried this.