— Tom Meulenkamp 2023/07/23 13:59
Driving small distances has always been a big problem with our robots. Multiple people have looked at these problems but have not yet reached a good consensus on how to solve it. Siemen started to do some research on it which can be read in his report over here: Driving Small Distances .
Just before Bordeaux, Elias and Tom have looked at implementing two different PID controllers for low and high velocity instructions to the robot. The pull-request for this can be found on GitHub. However, we failed to tune the PID values for low velocities and could not achieve the converge times that we would have liked, without causing oscillations into the system.