Balancing purely off targeting a offset on the station?

We have been trying to balance using our pitch and trying to detect the increase in pitch rate of change to know when to stop.

I’m starting to think this isnt the most efficient approach as I am already seesawing. I think this is a robot by robot thing because sometimes claim to be balancing off jusy doing that.

I’t starting to think about using a offset on the charging station position instead. If the robots balancing alone, there should be an offset that if you can reliably get to it (big if), the robot balances. Maybe its a 1/3 of charging station, or half. Etc.

Anyone have any experience with this approach? Ramp probly makes some of that distance driven data unpredictable

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