Quote:
Originally Posted by Jared341
this is one of the common "gotchas" that makes swerve programming much, much more complicated than just implementing the inverse kinematics
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Exactly.
I see two general classes of solutions to this problem:
1) rate-limit the driver commands. advantage: effective, and simple to implement. disadvantage: possibly poor responsiveness
2) foresake independent control of each pod... make the control algorithm for each pod be dependent on what the other pods are doing so that their actions are coordinated. advantage: potential for better performance than option1. disadvantage: may take quite a bit of thought and debugging to get something that works reliably under all situations; and there may still be latent bugs waiting for the right Murphy moment to bite.
It's about compressing life into 6 weeks. It's about doing. It's about learning to fail. It's about gracious professionalism. It's about releasing the limitations that we all put on ourselves. It's about thinking outside of the box. It's about growing. - JohnBoucher [more] 
29-09-2011, 11:27
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