This afternoon we finally got the robot to go strait forward !!! Such an improvement !!!
With Paul we started to determined the “limits” of the robot movements like : what is the minimum time needed to do a perect 90° turn ? What is the ideal acceleration at the beginning of a strait line to respect the distance ? Actually it works with the fact that we divide the movement in little ones and we let a bigger time for the firsts centimeters so it can reach its max speed more smoothly.
Tomorrow we will finish this part and try to merge it with the choreography algorithm of Alban.
That’s all, good night