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 Machinery tends to make chips fly into weird places. Lathes and mills are particularly good at this, though drill presses are skilled as well. - Karibou [more] |
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| Machinery tends to make chips fly into weird places. Lathes and mills are particularly good at this, though drill presses are skilled as well. - Karibou [more] |
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#15
26-03-2008, 14:52
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Re: Grid-based autonomous
You should be telling the robot to correct for position over angle when the robot is far away from the waypoint.. As the robot gets closer to its desired position, angular correction has more of an effect over positional correction.
your angular correction should be a PID loop, except your P constant is acually a variable as a function of the distance from the waypoint. |
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