Driving commands
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amikhalev commented
The way these are implemented on Limbo should work decently well
- DriveStraight
- Using a TrapezoidalMotionFollower for moving forward/backward and a PidController for keeping straight
- DriveRotate
- Using a TrapezoidalMotionFollower
- DriveArc
- Using a TrapezoidalMotionFollower for moving forward/backward and a TrapezoidalMotionProfile for turning the arc. The Limbo implementation kinda works, but it breaks for very tight/short arcs. It will extend the rotation to fill the same time as the translation (and respect the max accel/velocity), but it does not extend the translation to fill the rotation in the same way