Yesterday, I have a test for Drovetrain(angular), but the result is odd. If the dynamic forward test is correct, the dynamic backward will go straight.
If opposite, the result is identical. But the quasistatic test can work correctly.
Is my configuration is wrong?
drivetrain angular should make your robot rotate, not go straight
do you invert the right motors in your config?
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Yes, I do. Today, I test again. The problem is that when performing dynamic test, the robot cannot work smoothly, so the result data cannot be adopted.(R square is -3)
Angular mode is currently broken with some gyros. It’s being reworked to rely on wheel odometry for the bulk of the fit.
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