KingBoomie
commented
3 years ago Usually this problem is solved by having separate PID controllers for motor effort and x y control. Eg, like this schematic from the ros_control overview.
Open Veix123 opened 3 years ago
KingBoomie
commented
3 years ago Usually this problem is solved by having separate PID controllers for motor effort and x y control. Eg, like this schematic from the ros_control overview.
The Robotont's wheels are currently controlled by 3 PID controllers that are INDEPENDENT! This is problematic, when the speed setpoints for the controllers are not symmetrical (e.g. when moving sidewise) or when disturbances occur on one of the wheels. We need a single controller that is aware of all encoder values and controls all wheels simultaneously. As a result, blocking the motion of one wheel should proportionally slow down the other two.