After some redevelopment and implementation of the controller on the robot its looking a bit better - next job is to turn the speeds down and then start working on cornering - this video shows what happens with independent velocity control on both wheels.
It is going at a speed of 150 out of a maximum speed of 1024 (theoretically), I am not sure on its actual speed at the moment (in meters per second) but it should be in the region of 0.5 to 0.75m/s which is scarily fast!
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