Open griswaldbrooks opened 2 years ago
The motor controllers need to be tuned for the robot to drive accurately.
GIVEN an integrated mobile base WHEN actuating the motors THEN the motors will maintain commanded speed.
Velocity tuned PID is what we want. Likely, autotuning will be enough. https://resources.basicmicro.com/auto-tuning-with-motion-studio/ https://youtu.be/UsKsnQNgVQk
This ticket does not cover m/s, just using Motion Studio to command the motors.
Configured RoboClaw to output positive encoder counts when driving forward for both motors.
Here are the auto tune values for the velocity controller :
Use Case
The motor controllers need to be tuned for the robot to drive accurately.
Acceptance Criteria
GIVEN an integrated mobile base WHEN actuating the motors THEN the motors will maintain commanded speed.
Notes
Velocity tuned PID is what we want. Likely, autotuning will be enough. https://resources.basicmicro.com/auto-tuning-with-motion-studio/ https://youtu.be/UsKsnQNgVQk
This ticket does not cover m/s, just using Motion Studio to command the motors.