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yameatmeyourdead / CSMMateROVJetson

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Implement proper PID control loops for movement #15

Open yameatmeyourdead opened 3 years ago

yameatmeyourdead commented 3 years ago

The current implementation of movement is strictly tied to the controller. With the programming for the IMU and depth detection practically complete, a more rigorous control model must be implemented. Must allow for automatic depth control (e.g. hands of the controller and it keeps current depth) and automatic stabalization to counteract unbalanced forces due to having a load on the manipulator arm. The current vector model provides a good base for expansion.

yameatmeyourdead commented 3 years ago

Implement proper PID control loops for movement

yameatmeyourdead commented 3 years ago

Partially implemented in 2e82d0febb663ca8d4542ef65b55acf9a6ecd521 Need to make control signal algorithms, error detection, and setpoint code