If this information is elsewhere, I’m sorry. Rover 3.5.1 on Pixhawk 4 with an Ardusimple. Skid steer, 2 drive wheels driven by a Roboclaw 2x30. The third wheel, in front, is free-castering.
Happy to upload a logfile but really this question is about the intended/designed behavior of the autopilot.
When my rover navigates a course it does its 90 degree pivot turns by stopping, then turning the outside wheel forward (i.e. left wheel forward to make a right turn) and leaving the inside wheel stationary, and rotating 90 degrees. Is this by design, or, should the inside wheel turn backward while the outside wheel turns forward, causing the rover to pivot on the spot? Not to nitpick but pivoting with only the outside wheel and leaving the other wheel stationary causes the vehicle to navigate in an arc, whose radius is 1/2 the distance between the 2 drive wheels (on my vehicle distance between wheels is 1 meter, hence arc radius is 0.5 meter). On a 90 degree turn, this arc seems to leave the rover about 0.5 meters off of the intended line to the next waypoint (in the right turn example, after a 90 degree right turn, the vehicle seems to be about 0.5 meters to the left of the line to the next waypoint, and when it subsequently starts driving along that line, it swerves to get back on to that line) If the vehicle were to turn on the spot using both forward and backward wheel motion then it wouldn’t be off the line to the next waypoint and it might leave the pivot point in a straighter direction.
Bottom line, my question is, whether the rover should be pivoting using both forward and backward wheel motion? If so then I must have a config wrong somewhere. @rmackay9?
Thanks in advance-