Deceleration control

[David9696]

Hi,

The deceleration of the controller seems not in place. The robot would just freely roll until it stops when zero velocity is sent. Is it possible to set the deceleration?

Thanks.

[roaldlemmens]

Hi,
Currently if velocity is 0, the motors are released. This was done intentionally to allow the robot to be moved manually and safe some power. I have implemented PID control (see branch feature/duty_cycle_pid) which improves control. If you add velocity_smoother you will get smooth deceleration. For a project I'm working on I set the decel_factor to 0.6 to have a longer time to stop, which is convenient when the robot is travelling with a high load.

But it could also be useful to have active braking, see issue #1

[David9696]

Hi,

Thanks for your reply. Totally agree that the motor release can save some power. However, if the robot is moving on a ramp and stop, then releasing the motor might not be a good behavior as the robot might fall down. Hence, active braking might be a better choice. I am not very good in programming. If you can guide me where to work out the active braking, I am more than happy to help.

Also, I have tried the duty_cycle_pid branch. Indeed, it is a very good work. The robot control becomes much smoother and responsive. Good works.