I’m working on developing some more accurate autonomous programs for Worlds and I was curious how you guys structure your control algorithms. I know slew rate controllers are essential for preventing wheel slippage but I have a few questions I was hoping someone could help me with.
Should each side of the drive train (assuming a tank drive) have an independent slew rate controller? Or would it be better to tie them together so that they are always exactly the same speed (opposite speeds during turns)?
What slew rate is best to prevent wheel slippage without making the drive too sluggish?
In my experience, PID becomes impossible to stabilize with a slew rate controller slowing its output. How are you guys tuning PID controllers on your drive train while slewing their output?
Also, what is the advantage of using the gyro to measure turns instead of encoders? I’ve struggled with drift producing inaccurate turns.
I would appreciate any answers to these questions. If I’m missing something altogether I would love to hear what it is. I’m mystified by those of you that have accurate, repeatable autonomous programs.
Thanks!