Difference between revisions of "Odometry Glitches"
From wikidb
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| − | + | = Background and Set Up = | |
| + | |||
| + | These odometry glitches were discovered during motor control PID tuning. See | ||
| + | |||
| + | * [[Creating_PID_Tuning_Graphs]] | ||
| + | * [[Creating_PID_Tuning_Graphs#Execution]] | ||
| + | |||
| + | == Example Graph == | ||
| + | |||
| + | 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]]. | ||
| + | * It also suggest a power dead zone from 0 to 10%. | ||
| + | |||
| + | [[Image:plot151520.png|600px]] | ||
| + | |||
Y scales too different | Y scales too different | ||
Revision as of 12:26, 12 October 2017
Background and Set Up
These odometry glitches were discovered during motor control PID tuning. See
Example Graph
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.
- It also suggest a power dead zone from 0 to 10%.
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
