Using robot operating system driver
-
Basicmicro Support
- Posts: 1594
- Joined: Thu Feb 26, 2015 9:45 pm
Re: Using robot operating system driver
1. We recommend you tune the PID settings and test them using Ion Studio, then save the settings to the Roboclaw. Setting them(and trying to tune them) using your arduino program is very difficult. My guess is your current values are very wrong.
2. Email support@ionmc.com. They will send you an updated version of the roboclaw_node. The GIT Hub version is fairly old at this point. Note the ROS driver doesnt do anything special as far as PID tuning/use is concerned. You still need to have a properly tuned PID to control your motors.
3. Another possible cause of PID oddness is if the encoders are producing bad data. You should check your encoder signals with a scope if you have one. They should be nice square waves with differeing periods depending on the speed of the motor. You can also check if you are getting bad encoder counts by running the motor forward for some amount of time and then backwards for the same amount of time and speed in reverse. The encoder counts should come out very close to 0(assuming you started at zero). If they are off by a large amount it could indicate bad encoder signals.
2. Email support@ionmc.com. They will send you an updated version of the roboclaw_node. The GIT Hub version is fairly old at this point. Note the ROS driver doesnt do anything special as far as PID tuning/use is concerned. You still need to have a properly tuned PID to control your motors.
3. Another possible cause of PID oddness is if the encoders are producing bad data. You should check your encoder signals with a scope if you have one. They should be nice square waves with differeing periods depending on the speed of the motor. You can also check if you are getting bad encoder counts by running the motor forward for some amount of time and then backwards for the same amount of time and speed in reverse. The encoder counts should come out very close to 0(assuming you started at zero). If they are off by a large amount it could indicate bad encoder signals.