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  • #9519
     aayushkm52
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    If your wheels have encoders, the usual approach is to use a PID loop to drive the wheels at the specific speed you want, rather than PWMing the motors. That way the PID will make the wheels turn at that speed on different surfaces and angles, and overcome the inertia when it is stopped. It’s smoother and more precise. The cmd_vel message says “I want this many m/s linear and this many rad/sec rotation” and the control node driving your motor converts those to wheel speeds and sends the desired wheel speeds as targets to the PID loop.

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