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WisconsinRobotics / WRover_Software

The software system for the 2024 Wisconsin Robotics URC rover.
https://wisconsinrobotics.github.io/WRover_Software/
MIT License
6 stars 1 forks source link

Drive Deadbands #14

Closed bennowotny closed 2 years ago

bennowotny commented 2 years ago

Joystick drift causes the controllers to read nonzero values when they are not being actively driven. To reduce the effect of this on the drive system, a deadband was added to the teleop logic to ignore low controller values since they are likely to be drift. This effectively makes the slowest possible input speed (deadband)*(lowest_speed_setting), but the default values make this minimum 0.025=2.5%, which is too low to drive the motors anyways.

bennowotny commented 2 years ago

This logic will move to WisconsinRobotics/wreadinput.