2 Jan 2009 motters   » (Master)

Working mainly on the odometry, trying to get dead reckoning performance as good as it can be. In this case just controlling the individual motors as closed loop systems seems to be insufficient for accurate movement. It looks like I need a higher level differential drive control which coordinates the action of the two motors together. I'll probably do this by adding two additional PID control objects, one being for forward velocity control and the other being for angular velocity. The outputs from these higher level objects will become an auxiliary error term within the PID loop which controls each individual motor.

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