29 commits

Author	SHA1	Message	Date
Andy Killorin	4910f99a33	ffless tune	2025-12-12 12:51:48 -05:00
Andy Killorin	7b7cd3d8e7	switch to onboard feedforward	2025-12-12 12:17:45 -05:00
Andy Killorin	0a09c4b785	smaller wheels	2025-12-12 12:08:50 -05:00
Andy Killorin	2aa25f49d2	floundering	2025-12-10 18:22:03 -05:00
Andy Killorin	7e6ba786eb	tuning	2025-12-10 16:24:44 -05:00
Andy Killorin	fb1667b1e2	goes and turns around	2025-12-10 14:43:01 -05:00
Andy Killorin	95c821664c	flip left and right motors (right motor has a lot of backlash)	2025-12-10 13:59:05 -05:00
Andy Killorin	60ce321906	continue until timeout	2025-12-10 13:22:34 -05:00
Andy Killorin	0ef16df511	distances currently off by PI/2, unknown why	2025-12-10 12:37:32 -05:00
Andy Killorin	356b1081f4	don't forget accumulated position error	2025-12-10 12:27:06 -05:00
Andy Killorin	0b0a656bf3	basic position PI tuning	2025-12-10 12:09:07 -05:00
Andy Killorin	a1b4dfce79	position PI loop	2025-12-10 12:00:13 -05:00
Andy Killorin	5bc480eaab	full sequence (no tuning or position feedback)	2025-12-10 01:51:47 -05:00
Andy Killorin	0fc7ba0f11	attempt to achieve left-right parity (very different)	2025-12-10 01:47:27 -05:00
Andy Killorin	9d45a49d75	tuned pid for movment while on jacks	2025-12-10 01:12:59 -05:00
Andy Killorin	e7979208b6	feedforward tuning first round	2025-12-10 00:59:56 -05:00
Andy Killorin	bf0c0b8d98	untested feedforward impl	2025-12-09 23:38:18 -05:00
Andy Killorin	c97954b815	added coeff for left motor	2025-12-07 14:35:42 -05:00
Andy Killorin	cc4d99c218	tuning attempts ... currently the right motor is acting funny	2025-12-06 16:27:21 -05:00
Andy Killorin	7bcd6e5f64	mended units	2025-12-06 15:36:25 -05:00
Andy Killorin	a29c852daa	factored out constants	2025-12-06 14:51:03 -05:00
Andy Killorin	f8d0b85def	added "methods" to header	2025-12-06 14:48:33 -05:00
Andy Killorin	b3c09c6047	factored out header	2025-12-06 14:47:00 -05:00
Andy Killorin	81bec195f0	factored out trapezoidal config to struct	2025-12-06 14:37:10 -05:00
Andy Killorin	fbea26a946	factored out trapezoidal calculations	2025-12-06 14:24:40 -05:00
Andy Killorin	f956c51d83	named variables as they should be	2025-12-06 14:22:56 -05:00
Andy Killorin	17707897d6	banged out trapezoidal impl ... not fuzzed, likely bugged	2025-12-06 14:19:44 -05:00
Andy Killorin	ac0b2050e2	added constants	2025-12-06 14:00:22 -05:00
Andy Killorin	da3b20ea94	initial commit ... adapted the motion example for a differential drive chassis	2025-12-01 20:32:11 -05:00