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 The difference between a robotics kid and a generic nerd. Both use their calculators for statistical analysis. One keeps it a closely guarded secret, the other brags about it on Chief Delphi! - Kevin Leonard [more] |
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#12
03-02-2009, 18:56
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Re: Using encoders for traction control help
So, if I understand your algorithm correctly, it works like this (for each side):
1. Get the acceleration according to each encoder on the transmission 2. If the acceleration is too high, compute the ratio: maximum_acceleration / real_acceleration where maximum_acceleration is determined experimentally. Then, multiply the desired motor value by said ratio. Is that right? So do you just ignore the velocity according to the encoders on the omni wheels (undriven wheels)? It sounds simple, but it also sounds like it could work (occam's razor ftw). |
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