Drive System Control Compensation

[tr6scott]

We programmed a rate limiter this Saturday, which just looks at the motor output the last time, and you set a threshold, (max allowed change per loop time) and if greater, just adds the max, to the output.

This worked well at keeping the totes on the stack, but makes the drivers controls "laggy".

I just posted a question to the programming team, if they thought the rate limit could/should be varied depending on the speed of the bot, or motor output of the controller... Seeing it is a kinematic energy problem, and mathematically, the formula always seems to have a velocity squared term, maybe the rate limit variance should be based on a square of the velocity.

based on our "Kitbot on Steroids" programming mule, this equated to a rate limit of 1.1 or stop to full speed in 0.9 seconds, this was enough acceleration/deceleration to keep a stack of 4 totes on the bot, suspended by the handles only... (trying to determine the pro/cons of supportting tote in two, three, or 4 points. )