Accelerometer success?

[Bongle]

Originally Posted by squirrel

I don't see any cases there that would not be handled by the static approach...the robot mass is pretty large compared to the inertia of the wheels, even in a situation where you get bumped by another robot, or drive on the carpet, or the load on the robot changes. In a pushing match you'll be accelerating much less than when you're out in the open.

(really, I'm not trying to dissuade you from making the accelerometer work, I just think that it's not necessary for TCS)

One big issue is your on-carpet acceleration: On a carpet, your robot's potential acceleration will be higher than on regolith. So if you artificially cap wheel acceleration to your on-regolith acceleration, you're hurting your peak performance.

Another issue is your ability to push trailers or pull a loaded-up trailer: Your in-code maximum acceleration will be higher than what your robot can physically achieve, and so your wheels will be able to speed up and start spinning despite the code being there.

However, these arguments from me are mostly based on our system's theoretical performance. It may turn out to be not reliable enough for a full-time implementation, at which point a static setup makes sense.

[Jared Russell]

Originally Posted by Bongle

One big issue is your on-carpet acceleration: On a carpet, your robot's potential acceleration will be higher than on regolith. So if you artificially cap wheel acceleration to your on-regolith acceleration, you're hurting your peak performance.

Another issue is your ability to push trailers or pull a loaded-up trailer: Your in-code maximum acceleration will be higher than what your robot can physically achieve, and so your wheels will be able to speed up and start spinning despite the code being there.

However, these arguments from me are mostly based on our system's theoretical performance. It may turn out to be not reliable enough for a full-time implementation, at which point a static setup makes sense.

Well put.

In short, static acceleration limiting will prevent slip as long as (1) no external forces are manifest and (2) you know your CoF with high confidence. Once these assumptions are broken, however, you can lose traction and - with the static approach - you will have no automatic way to detect that this has occurred and, by extension, will have no automatic way to regain traction.