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The ForwardKinematics used by the observer are over determined meaning we could get rid of the input from one swerve module and still function fully.
Detect a failed drive or steer encoder in ForwardKinematics
Ignore a failed steer or drive encoder in ForwardKinematics
Stretch Goal:
Given a 2 wheel swerve drive is technically possible could we detect two failing swerve modules and still accurately keep track of our pose?
The text was updated successfully, but these errors were encountered:
On Fri, Feb 23, 2018 at 11:49 AM Kython89 ***@***.***> wrote:
The ForwardKinematics used by the observer are over determined meaning we
could get rid of the input from one swerve module and still function fully.
1. Detect a failed drive or steer encoder in ForwardKinematics
2. Ignore a failed steer or drive encoder in ForwardKinematics
Stretch Goal:
Given a 2 wheel swerve drive is technically possible could we detect two
failing swerve modules and still accurately keep track of our pose?
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I totally agree. I wasn't suggesting that we should cut down on the overdeterminedness of the system under normal conditions. I simply want to handle a single and possibly 2 encoder failures.
The ForwardKinematics used by the observer are over determined meaning we could get rid of the input from one swerve module and still function fully.
Stretch Goal:
Given a 2 wheel swerve drive is technically possible could we detect two failing swerve modules and still accurately keep track of our pose?
The text was updated successfully, but these errors were encountered: