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Re: Maintaining perfect control of mecanums using encoders?
Conceptually, the first thing to realize is that, without encoders, you are just setting a 'speed' value. You don't actually KNOW what speed the wheels are turning. The teams that you talked to really just used PID to control the actual speed (in rev/min) of the wheels. The first step is to figure out what speed you actually want the wheels to be going, then implement PID to get the wheel to that speed.
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-Alex
2010 Washington DC Regional: Engineering Excellence Award
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My wife got mad at me when I told her I wanted to name our daughter Lotus. "What you mean the software?" she squawked. "No I mean the flower." I said. geeks, I swear.... - Koko Ed [more] 
02-10-2013, 10:11
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