Quote:
Originally Posted by Beaker
We set a maximum acceleration and maximum velocity in order to get the most accurate results. We also tune 2 constants that scale the profile's output velocity and acceleration to actual motor power.
The robot currently has a very slight drift (2 inches over the course of 10 feet), mostly due to chain tensioning. This drift can be corrected in the code with gyro feedback control, which we do in the season.
|
That is pretty good performance. Does the amount of drift or the distance driven change if you reduce the acceleration to half or if you double it?
it's much easier to build safety in to a system than to add it on a Thursday at a regional. - dtengineering [more] 
06-01-2016, 14:06
Threaded Mode