Thoughts on how to possibly improve drivetrain controls:
add a "lock to 45 degree mode" where only north, northeast, east, etc. are acceptable directions.
Calculate driver left joystick angle and magnititude
round magnititude to nearest 45 degree angle
convert back to fwdrev/strafe commands.
Generalize the vision align PID to be able to control the pose angle of the robot closed-loop at any time (not just vision align). Add a button/trigger on the driver control to (on depress) record the gyro angle and then close-loop control the angle to it (as long as it is held, and ignore driver rotate commands)
gerth2
commented
7 years ago
Thoughts on how to possibly improve drivetrain controls:
add a "lock to 45 degree mode" where only north, northeast, east, etc. are acceptable directions.
Generalize the vision align PID to be able to control the pose angle of the robot closed-loop at any time (not just vision align). Add a button/trigger on the driver control to (on depress) record the gyro angle and then close-loop control the angle to it (as long as it is held, and ignore driver rotate commands)
No idea if either of these will be useful at all.