Turning
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Repeat of Nate711/Doggo#39
Is the doggo able to rotate on the spot, or take arcing trajectories?
If no, are there any suggestions on how one might help contribute that functionality? My team and I are replicating doggo and if this is a meaningful contribution we can hopefully spare some manpower to try to develop this capability.
Hi methyldragon, thanks for your interest! Right now there's basic support for turning: you can send a 'Y' command to the robot, and then specify a difference in step lengths between the left and right sides by sending 's #', where # represents the step length difference in meters. We usually set the difference to be between -0.08m and 0.08m.
We also have code to control the robot using a playstation dualshock controller. You can find that code here: https://github.com/stanfordroboticsclub/DoggoCommand