Drive Backwards Causes A Rotation Movement

[Ether]

Originally Posted by tanogirl

When we pull the joystick backwards the Z axis has an input greater than the Y axis input.

Please run a test and post the Z vs Y pairs for Y=0 to Y=max for several values of Y.

[tanogirl]

Forward=

Y = 1.000
Z = 0.008

Backwards =

Y = -1.000
Z = -0.0062

It's a small difference but it makes the robot rotate.

[Ether]

Originally Posted by tanogirl

Forward=

Y = 1.000
Z = 0.008

Backwards =

Y = -1.000
Z = -0.0062

It's a small difference but it makes the robot rotate.

The above does not agree with your previous post:

When we pull the joystick backwards the Z axis has an input greater than the Y axis input.

[tanogirl]

Yes the Y axis is greater than the Z axis but the robot still rotates when driving backwards.

[Ether]

Originally Posted by tanogirl

Yes the Y axis is greater than the Z axis but the robot still rotates when driving backwards.

Please post results for Y=0, Y=.2, Y=.4, Y=.6, Y=.8;
repeat for negative Y commands.

If all the Z values are within +/-0.0099,

try adding deadband to your code:

if (fabs(Z)<.01) Z=0;

[tanogirl]

Where would you put that in the code?

[Ether]

Originally Posted by tanogirl

Where would you put that in the code?

Right after you read the joystick Z axis (i.e. before you use it).