Revision as of 12:37, 12 October 2017

Background and Set Up

These odometry glitches were discovered during motor control PID tuning. See

These measurements are under load.

Observations

The issues are pinpointed below

@@ Line 9: / Line 9: @@
 These measurements are under load.
-Setting
-* P = 15
-* I = 15
-* Target speed 0.2 m/sec
 Observations
-* Notice the odometry glitches that report a 0 m/sec wheel speed. See [[Odometry Glitches]].
+* Notice the odometry glitches that report a 0 m/sec wheel speed.
-* It also suggest a power dead zone from 0 to 10%.
+* Notice the wheel speed shot term oscillation.
+The issues are pinpointed below
 [[Image:plot151520.png|600px]]
-Y scales too different
-    rqt_plot /cmd_vel/linear/x /wheels/data[1] /wheels/data[2] /phidgets/encoder/351547/count_change
-  roslaunch floor_hugger motor_control_nav.launch
-  roslaunch floor_hugger odometry.launch
-  rqt_plot /cphidgets/encoder/351547/count_change
-  python motors_go_full.py 0.20 0.0