Re: [WheelCommander] A small problem

[Pete Skeggs <plskeggs@xxxxxxxxxxxxxxxx>]

Hank van Buuren wrote:

Do I have to recalibrate when I change wheel size or wheel base?

At a minimum, you need to change the wheel circumference and wheel base parameters to match the new values.

You shouldn't need to recalibrate, but you may find that you might need to adjust the PID tuning to get the best response with the different physical system.

Also how do I change acceleration when I am using rotation?

By rotation, do you mean rotation rate or angle? 

If you are setting the rotation rate, your program is in charge of any acceleration control.  Your program would need to increase the rotation rate a few times a second up to the maximum rotation rate desired; the change in rotation rate is essentially the acceleration.  Conversely, when slowing down, your program will need to decrease the rotation rate a few times a second down to 0; the change at each update to the rotation rate is the deceleration.

If you are setting the angle rather than the rotation rate, then acceleration is controlled by the main acceleration parameter, using the set acceleration command.

-Pete