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KentridgeRobotics / 2021Robot

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Prepare robot for autonomous driving #18

Open nhl01 opened 3 years ago

nhl01 commented 3 years ago

Run the Robot Characterization Tool with the robot and use the calculated values from the tool to help the robot follow trajectories on the field.

skallaher commented 3 years ago

@nhl01 , would work done here assist with #19 ?

nhl01 commented 3 years ago

@skallaher yes I believe so. The Characterization Tool can give constants for how much voltage is needed for the flywheel to maintain a certain velocity and how much voltage is needed to start accelerating. There is an equation here under "Modeling with System Identification" that uses those constants to relate a flywheel's velocity and acceleration to voltage. However, the equation is meant for brushed motors; I'm not sure how helpful this can be since we're using brushless motors.

Documentation was found by @chanjcl.