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robototes / Crescendo2024

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When robot turns, it moves faster than controlled and moves laterally #104

Open jamesdooley4 opened 6 months ago

jamesdooley4 commented 6 months ago

During drive practice this week, they noticed that when the robot was commanded to only rotate, it'd also start moving laterally a bit rather than turning in place. Looking at a log from today at about 632.1s I noticed that the measured states were 30-50% larger than the desired speed - and were about 10% different from each other image

jamesdooley4 commented 6 months ago

Looking at a larger period of time, the measured states are consistently higher than the desired states: image and image