griswaldbrooks / c3pzero

Monorepo for c3pzero mobile base.
MIT License
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Tune PID #6

Open griswaldbrooks opened 2 years ago

griswaldbrooks commented 2 years ago

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.

MarqRazz commented 2 years ago

Configured RoboClaw to output positive encoder counts when driving forward for both motors.

Here are the auto tune values for the velocity controller c3pzero_velocity_controller_gains :