Hello. I am trying to decide between odometry, PI loop, or a PID loop. I will most likely be using enocoders, but i am not fully sure how to apply either of these to a Xdrive. Do i need a horizontal and vertical wheel for the encoders? I have looked on the forum, and have not found much of anything for a xdrive.
There are plenty of resources on the forum about Odom and PID. Give the search bar a try.
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Odometry is a way of tracking the robot not of moving it. I assume in the title that you want to sense it’s position which only odometry does. PID is a control loop which you can couple with Odom. A PI loop is just a PID loop without a D constant tuned. For drive control the one I would recommend to get rid of is I so a PD loop. You need at least one vertical and one horizontal wheel to track your displacement in both axis. If you are not using a inertial sensor for your angle you need two parallel trackers vertically for your heading. A X Drive will not have different odom as odom will track sideways displacement as well. Here’s resoruces
PID - http://georgegillard.com/documents/2-introduction-to-pid-controllers
Odom - http://thepilons.ca/wp-content/uploads/2018/10/Tracking.pdf
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