I wanted to make this post because I figured other people may have had the issue I have, and might be able to help.
Essentially, when I tell my robot to drive to a point, it stutters at the beginning and end. I’ve verified my linear and angular PIDs are decently tuned, so I don’t think that’s the issue. If anyone has tips or suggestions to help, please let me know!
How are you combining the linear/angular PID outputs to get motor voltages (or are you doing them sequentially, ie turn, settle, then drive)?
If you are combing the outputs (i.e. driving and turning at the same time), are you performing any biasing towards the angular output (a “turn scale”)?
What do your tuning constants and PID implementation look like?
Does the stuttering happen when only performing a turn or drive forward?