Locomotion Control V2 - Githubissues

SUSF-Robotics-and-Software / phobos_sw

Software for the Phobos rover written in Rust

3 stars 0 forks source link

Locomotion Control V2 #7

Open duncanrhamill opened 3 years ago

duncanrhamill commented 3 years ago

Add full Ackerman support to lococtrl.

This requires a couple things:

[x] Add crab angle to command struct
[x] Add processing in lococtrl itself
[x] Test on rover
[ ] Fix crab + curvature incorrect wheel angles

EthanTreg commented 3 years ago

8fe5c1b

Crab angle should now be implemented with limitations to the maximum crab angle so that the center of the circle always remains outside the rover's body.

There appears to be an issue with the maximum angular acceleration of a wheel not adjusting the speeds of the other wheels to account for the slower overall speed (issue 25).