Tuning PID Constants Over a Range

[Andrew Schreiber]

Originally Posted by Ether

For a robot with center of mass located at center of rectangle formed by the 4 wheels, I think that should be:

S = (1+f²)(W/2)ω

S is drive wheel linear speed
W is trackwidth
ω is desired turning rate in radians per second
f the the ratio L/W, where L is wheelbase

And by L (wheelbase) you mean contact patch (I think that's the terminology Hibner used)? So, for most teams it would be either the distance between the inner 2 sets of wheels (4/8wd) or the distance between the sets of wheels that the CoM is between (6/10wd). I'm going to ignore the option of a moving CoM because it's going to make my head hurt.