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 Engineering rules of thumb don't form the garbage that goes into the making of the robot. They take the garbage of the real world and turn it into more pure, if slightly diluted, data. - DampRobot [more] |
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#7
26-12-2010, 23:26
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Re: paper: joystick sensitivity (gain) adjustment
Really like the idea of that use of throttle.
Out of curiosity, is there anything special about the function x^3+x? Recently we've used an exponential graph: Let min = lowest desired value (min>0, usually the highest value at which the robot doesn't move) Let max = highest desired value (usually, max = 1.0) Then, output = min(max/min)^joystick value. This also enables us to vary the max value for the turning axes based on the robot's forward speed. 
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