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msanch / provospaceprogram

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Fix Strong Movements (Spin Out, Ramming) #9

Open joshuahaertel opened 7 years ago

joshuahaertel commented 7 years ago

It's either a problem with

  1. Vision: We lose the robot and send extraneous coordinates, causing strong velocity commands
  2. PID: We over charge our wheel spin when we collide/box out other robots and, when we break free, spin WAY to fast.

In the end, the problem can be exacerbated by vision not tracking the robot as it spins/rams and extreme velocities remain persistent.

out-5.ogv 4:04 - Collision begins 4:13 - 4:23 - Collision ramps up PID on wheels OR lost vision sending strange commands