PIDController Parameter values for QuadEncoder

[Alan Anderson]

Originally Posted by robotsteve

Do we need to have the robot actually on the floor so the motors
react to inertia and resistance?

In a word, yes.

You could perhaps make some sort of dynamometer setup so you can keep the robot itself stationary. We've occasionally talked about doing that, building a fixture to put other wheels in contact with the robot wheels, backdriving a gearbox into a motor with an electrical load on it.