Turret Optimization #39
Description
Optimizing for the turret subsystem
Goal is to create a method for evaluating turret performance and tuning for the best result.
Evaluation Methods
Create test commands to move the turret in a predictable way and measure results.
Ideas for this:
- Move yaw 180 command that tracks how long the it takes to rotate and stop moving.
- Move pitch/yaw n degrees command, and attach laser which will project its position on a wall where you manually measure where the turret should move and evaluate how close it physically is.
- Move back and forth between two points measuring accuracy with laser and time with code.
Optimize PID's and control systems
Use ozone to change constants live and evaluate results
Change constants run tests and record data points