Phidgets PID Tuning

Linear Speed

 roslaunch floor_hugger motor_control_nav.launch
 roslaunch floor_hugger odometry.launch
 python pid_graph.py 156020temp 8

Linear: The following is promising

• 0.2 m/sec linear
• 0.02 rad/sec angular - just enough to bypass glitches
• 4 second run and than stop

 python motors_go_full.py 0.2 0.02 4

Angular: The following is promising because power ends up around 70%

• 0.0 m/sec linear
• 2.0 rad/sec angular - just enough to bypass glitches
• 4 second run and than stop

 python motors_go_full.py 0.2 0.02 4