Choice of motor_speed coefficients
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Hi,
Thanks for your contribution in this project.
I have a question rather than an issue with your source code.
https://github.com/TheNoobInventor/lidarbot/blob/main/lidarbot_base/src/motor_encoder.c
In this c file, you set the motor_speed coefficient as 1.65, so I would like to ask how did you calculate this value?
Thank you.
Hello Jasper,
I assume that you sorted out your previous issue.
Concerning the motor_speed coefficient value, I arrived at that by trial and error. Using a value of 1.0 made it hard for my robot to turn, so I gradually increased it and tested its navigation performance.
The motors I use have encoder ticks of approximately 1084 and using 1.65 seems to work well for me. There was someone that used a motor that had above 3000 encoder ticks and using the coefficient value of 1.0 was fine for him. So it depends on the motor you are using.
I hope this helps clarify things a bit.
Hello,
Thanks for the reply.
Yes, the previous issue was addressed. I still don't know what is the root cause but I built the environment on another host machine with NVIDIA graphics instead of virtual machine and this issue doesn't show up anymore.
Back to the command coefficient, yes I had the same problem that it is really hard to turn left/right. But I was just wondering how did you calculate 1.65 as yours. But now it is clear.
Thanks again for your help.
You are welcome, I'm glad I could help.