We have recently added a few new features to Rover especially skid-steering rovers (i.e. R2D2 or tank track style frames). This work was started by Tridge’s work for the California MakerFaire a month or two ago. This video and the one below show a couple of improvements we’ve made including:
- improved handling when the outputs to the motors become saturated. For example if the driver (or autopilot) requests full throttle and full right it’s not possible for both to be achieved. Previously we always prioritised throttle meaning the vehicle would continue at at speed but with very little turn authority. A recent change is to balance that so that both throttle and steering are reduced equally.
- addition of visual odometry to allow indoor autonomous driving without a GPS (a GPS can also be used of course). This ability was already in Copter so it wasn’t a huge deal.
Some upcoming improvements will include:
- add motor encoder support
- improve rover’s code structure starting with a motors library