On a -127 to 127 scale:
For example, if the motors are running at full speed forward, and then they are set to neutral (0), does this put any load on the motors? How about if they are set to a slightly negative value? What is this load comparable to? Is it similar to setting a motor running half speed forward to half speed reverse?
Would it be useful to set the motor speed to a low value (proportional to the current speed?) with the opposite sign when the joystick is released? For example, if the robot was going full speed forward, and you let go of the joystick, the robot would keep going forward for a little; the intent of this would be to minimize that. Would this be hard on the motors?
For an acceleration code, should deceleration (but both with the same sign, ex. going from 127 to 100), be limited, or should only deceleration with different signs be limited?
I know this is a lot of questions, but I’d really appreciate some help, thank you.
I believe that dropping the power straight to 0 will give as much resistance as when the robot is off and you try turning the motor.
If you drop the power straight to -10 or something, it is sometimes called braking. Some people who did it (1103 roundup, in autonomous, specifically) did not seem to notice any ill effects on the motors. (He did it in autonomous, not driver.) I don’t suggest doing it in driver operated mode. Suddenly stopping could tip you, and there is no real benefit that I can think of when you are driving. (In autonomous, it is pre-programmed and exact. People are not exact, and are able to compensate.)
We limit everything; it is easier. I don’t know if there is a right or wrong. I do suggest limiting everything though, I think it helps with driving. (You could write both versions and have your driver tell you what they like better.)
You’re welcome. 