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Max velocity/accel/jerk violated by tank transform #14
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This is fairly typical. The maximum velocity is only taken into account during path generation. For the actual following of the path, this will be higher than the 'maximum'. This is on the list of things to change for Pathfinder version 2, which will be released You shouldn't see any difference in your robots following of the path. The encoder following will account for one side dragging behind the other, and correct for it. You may see your robot move a little faster on the coming out of a curve, though. |
The tank transform seems to not take into account the reduction of speed during a turn and the max constraints are violated. Example path:
In this case, velocity ends up > 60 units for one side of the robot.
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