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Custom twist value for variable gear ratio #15

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krrish-jindal opened this issue Jul 25, 2023 · 0 comments

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bug enhancement good first issue

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krrish-jindal commented Jul 25, 2023 •

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Need to create gear ratio param to get actual twist value in motor.
Issue Description:

The current problem with the motor control system is the need for manual adjustments of the twist value when the gear ratio changes. To simplify this process and ensure accurate twist values regardless of the gear ratio, we propose adding an automatic gear ratio parameter.
This parameter will act as a multiplier for twist values, automatically adjusting them based on the given gear ratio.

Proposed Solution:

To find gear ratio of motor we can use tachometer or we can calculate the gear ratio directly from the motor's actual RPM and the given RPM values.

Add PID value to increase twist value to match it with actual twist velocity

krrish-jindal added bug enhancement good first issue labels

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