Closed amoscao closed 1 year ago
That's kind of a big fudge factor.... >10% off...
You sure the wheel diameter & gear ratios are correct?
Am not sure because the error is quite large, but we checked the wheels and the gear ratio is theoretically correct. It’s accurate now though
On Wed, Mar 22, 2023 at 8:35 PM James @.***> wrote:
That's kind of a big fudge factor.... >10% off...
You sure the wheel diameter & gear ratios are correct?
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doesn't smell right
I agree but it’s a tech debt I think we need to incur before the comp this weekend. This encoding discrepancy isn’t new, it was just never fixed because it wasn’t affecting anything.
On Wed, Mar 22, 2023 at 10:06 PM James @.***> wrote:
doesn't smell right
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-- Amos Cao, Ph.D. Functional MRI Laboratory Department of Biomedical Engineering University of Michigan
Description
Fixes motor encoder odometry error by adding an empirically measured correction (fudge factor). Validated on robot that encoder accuracy is within 2cm error over a 6m distance.
Type of change
How Has This Been Tested?
Please describe the tests that you ran to verify your changes. Please also list any relevant details for your test configuration. Identify any new potential hazards or risks introduced.
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