Looking for some pointers on how to tune swerve odometry. When testing, the robot was consistently off ~5cm per meter of translation. Our lead programmer last night put in a factor to adjust the wheel size and we were able to get an error of ~1cm per 10 meters of translation.
We felt good. We rejoiced. And then…
We started to rotate the robot while translating and introduced a lateral error (error perpendicular to the direction of translation) of ~10cm per rotation. For example if the robot was set to travel 2m North while performing a 360 degree rotation, it would travel 2m North perfectly, but would also end up being ~10cm East of where it should have finished.
A couple of hypothesis’s:
- Wheel headings aren’t true
- Wheel diameters aren’t equal [tread wear?]
- Serve module positions aren’t accurate [enough?] (the drive base is rectangular)
Any advice on what else to consider?
Any suggestions on test patterns that we can test to help find the root cause?
Thank you!
