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| What are you using for online command drive strength, linear, or stepped?
So if you are 8" offline to the left and require 2 deg of turn to the right and the command rate (assuming PWM) of 40% drive strength and when you overshoot the line at 4% to pull the working area online faster, is it set at a lower rate, linear driven based off position and ohter sensor input, or based off something else, or no change in drive pattern.
Are you using anything to compensate for delay in response? You should use the steering angle as part of your projection, it is a hard and fast number that allows direct comparison to how other changes in your software alter the end effect, where as a guess by the system, based off your guess, is just that.
One last question, how is your software setup?
Multiple database tables with fetch algorithms, linked by one set of rules? | |
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Development – Steering Algorithms
