We have characterized the robot and are following paths. As we turn the speed up I am noticing it getting further off path. Yes I know this is to be expected somewhat.
How much does everyone tune the values from the robot characterization tool? What values are best to tune and what method do you have to the madness? I totally think we are running a reasonable speed at 3.0 meters per second and 1.5 acceleration. Maybe this is aggressive but it is what we are chasing.
Multiply your max speed by kV and your max acceleration by kA and add them. That’s a low-end estimate of how many volts you need to give the motor to do what you’re asking. If this isn’t somewhat below the nominal battery voltage, you are going to have problems.
So looking at like 9-9.5 max on that total?
That leaves you with very little wiggle room, especially while accelerating (the battery voltage drops under high current draw).
So would you say then a 8-8.5 gives you enough room?
It depends. You’re going to have to experiment.
Log your measurements, setpoints, outputs, and battery voltage and see what’s happening during a typical run.
Gotcha so making sure it isn’t applying mor voltage than the batter has to give at any given moment
This is just one of many factors, mind you. But yes, being mindful of this should help.
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