Encoders and rpm

[Ether]

Let's say you want to go from position P=0 to P=Pf in autonomous

Ideally, you'd want your control algorithm to do something like this:

1) ramp the speed up vs time (to limit acceleration to an acceptable level to avoid wheel slip or excessive rocking of the vehicle) until the desired top speed is reached, then hold that speed until you are within distance L of the desired stopping point (i.e. P=Pf-L).

2) then ramp the speed down as a function of L (to avoid excessive deceleration), so that speed=0 when L=0 (i.e P=Pf).

3) all the while keeping the encoder counts synchronized between the left and right motors