RAMSETE Controller oscillating

Programming Support
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1

I made a full RAMSETE controller algorithm to pull data from path.jerryio.com files in python using vscode for my robot, my program works in a straight line but when it turns/runs a curves path it just oscillates back and forth. any ideas on how to fix this issue?

i have tried adding a margin for error and adjusting my b and zeta values for tuning, i also have tried capping the speed of the motors and it still doesn’t work. The google doc linked below has my program in it.

GoogleDocs

2

were you ever able to fix this issue? i had the same issue

3

@henry_bag I remember you mentioning that path.jerryio.com does not provide the info needed for a RAMSETE controller.

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in path.jerry io it lets you access to “min/max” speed/rpm, and throughout the path you can adjust the rpm, however this only includes linear velocity, you have to calculate angular velocity on your own