add empirically measured ff

[amoscao]

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

• [ ] New feature (non-breaking change which adds functionality)
• [ ] Breaking change (fix or feature that would cause existing functionality to not work as expected)
• [x] Bugfix (non-breaking change which fixes an issue, add DEF # above in description)
• [ ] Environment change (changes to developer environment or CI configuration)
• [ ] Documentation Update (if none of the other choices apply)

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.

Author Checklist:

• [ ] I have performed a self-review of my code
• [ ] I have added 1-2 reviewers
• [ ] I have @mentioned relevant non-reviewers as an FYI
• [ ] I have included a detailed description of my changes and their motivations

[jcorcoran]

That's kind of a big fudge factor.... >10% off...

You sure the wheel diameter & gear ratios are correct?

[amoscao]

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?

— Reply to this email directly, view it on GitHub https://github.com/applepi-2067/2023_Robot/pull/143#issuecomment-1480425595, or unsubscribe https://github.com/notifications/unsubscribe-auth/ACSVWRZNHAEU6FYRKJVN2D3W5OLDRANCNFSM6AAAAAAWEOFWXU . You are receiving this because you modified the open/close state.Message ID: @.***>

-- Amos Cao, Ph.D. Functional MRI Laboratory Department of Biomedical Engineering University of Michigan

[jcorcoran]

doesn't smell right

[amoscao]

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

— Reply to this email directly, view it on GitHub https://github.com/applepi-2067/2023_Robot/pull/143#issuecomment-1480480228, or unsubscribe https://github.com/notifications/unsubscribe-auth/ACSVWR4AIWNSNZO5BBCREXLW5OVYPANCNFSM6AAAAAAWEOFWXU . You are receiving this because you modified the open/close state.Message ID: @.***>

-- Amos Cao, Ph.D. Functional MRI Laboratory Department of Biomedical Engineering University of Michigan