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101 lines
16 KiB
Markdown
101 lines
16 KiB
Markdown
# Manual Modes
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Manual modes require stick inputs from the user to drive the vehicle.
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The sticks provide the same "high level" control effects over direction and rate of movement in all manual modes:
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| Rover Type | Left stick up/down | Left stick left/right | Right stick left/right |
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| ------------ | ------------------------------------------------------------------------------------------ | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
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| Ackermann | Drive the rover forwards/backwards (controlling speed) | - | Make a left/right turn (controlling steering angle in [Manual mode](#manual-mode), and yaw rate in [Acro](#acro-mode), [Stabilized](#stabilized-mode) and [Position](#position-mode) modes). |
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| Differential | Drive the rover forwards/backwards (controlling speed). | - | Make a left/right turn (controlling speed difference in [Manual mode](#manual-mode), and yaw rate in [Acro](#acro-mode), [Stabilized](#stabilized-mode) and [Position](#position-mode) modes). |
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| Mecanum | Drive the rover forwards/backwards (controlling speed) | Make a left/right turn (controlling speed difference in [Manual mode](#manual-mode), and yaw rate in [Acro](#acro-mode), [Stabilized](#stabilized-mode) and [Position](#position-mode) modes). | Drive the rover left/right (controlling speed). |
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The manual modes provide progressively increasing levels of autopilot support for maintaining a course, speed, and rate of turn, compensating for external factors such as slopes or uneven terrain.
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| Mode | 설명 |
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| --------------------------------------- | ----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
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| [Manual](manual.md#manual-mode) | No autopilot support. User is responsible for keeping the rover on the desired course and maintaining speed and rate of turn. |
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| [Acro](manual.md#acro-mode) | + Maintains the yaw rate (feels more like driving a car than manual mode). <br>+ Allows maximum yaw rate to be limited (protects against roll over). |
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| [Stabilized](manual.md#stabilized-mode) | + Maintains the yaw (significantly better at holding a straight line). |
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| [Position](manual.md#position-mode) | + Maintains the course (best mode for driving a straight line).<br>+ Maintains speed against disturbances, e.g. when driving up a hill.<br>+ Allows maximum speed to be limited. |
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:::details
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Overview mode mapping to control effect
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| Mode | Speed | Turning | Required measurements |
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| ------------------------------ | ---------------------------------------------------------------------------------------- | ----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ---------------------------------------------------------------------------------- |
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| [Manual](#manual-mode) | Directly map stick input to motor command. | Directly map stick input to steering angle/speed difference. | None. |
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| [Acro](#acro-mode) | Directly map stick input to motor command. | Stick input creates a yaw rate setpoint for the control system to regulate. | yaw rate. |
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| [Stabilized](#stabilized-mode) | Directly map stick input to motor commands. | Stick input creates a yaw rate setpoint for the control system to regulate. If this setpoint is zero (stick is centered) the control system will maintain the current yaw (heading) of the rover. | Yaw rate and yaw. |
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| [Position](#position-mode) | Stick input creates a speed setpoint for the control system to regulate. | Stick input creates a yaw rate setpoint for the control system to regulate. If this setpoint is zero (stick is centered) the control system will keep the rover driving in a straight line. | yaw rate, yaw, speed and global position (GPS). |
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:::
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## 수동 모드
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In this mode the stick inputs are directly mapped to motor commands.
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The rover does not attempt to maintain a specific orientation or compensate for external factors like slopes or uneven terrain!
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The user is responsible for making the necessary adjustments to the stick inputs to keep the rover on the desired course.
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| Rover Type | Left stick up/down | Left stick left/right | Right stick left/right |
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| ------------ | --------------------------------------------------- | ------------------------------------------------ | ---------------------------------------------------------- |
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| Ackermann | Drive the rover forwards/backwards. | - | Move the steering angle to the left/right. |
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| Differential | Drive the rover forwards/backwards. | - | Yaw the rover to the left/right. |
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| Mecanum | Drive the rover forwards/backwards. | Yaw the rover to the left/right. | Drive the rover left/right |
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For the configuration/tuning of this mode see [Basic Setup](../config_rover/basic_setup.md).
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## Acro Mode
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:::info
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This mode requires a yaw rate measurement.
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:::
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In this mode the vehicle regulates its yaw rate to a setpoint (but does not stabilize heading or regulate speed).
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| Rover Type | Left stick up/down | Left stick left/right | Right stick left/right |
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| ------------ | --------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ |
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| Ackermann | Drive the rover forwards/backwards. | - | Create a yaw rate setpoint for the control system to regulate. If this input is zero the control system will attempt to maintain a zero yaw rate (minimal disturbance rejection). |
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| Differential | Drive the rover forwards/backwards. | - | Create a yaw rate setpoint for the control system to regulate. If this input is zero the control system will attempt to maintain a zero yaw rate (minimal disturbance rejection) |
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| Mecanum | Drive the rover forwards/backwards. | Create a yaw rate setpoint for the control system to regulate. If this input is zero the control system will attempt to maintain a zero yaw rate (minimal disturbance rejection) | Drive the rover left/right |
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For the configuration/tuning of this mode see [Rate tuning](../config_rover/rate_tuning.md).
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## Stabilized Mode
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:::info
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This mode requires a yaw rate and yaw estimate.
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:::
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In this mode the vehicle regulates its yaw rate to a setpoint and will maintain its heading if this setpoint is zero (but does not regulate speed).
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Compared to [Acro mode](#acro-mode), this mode is much better at driving in a straight line as it can more effectively reject disturbances.
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| Rover Type | Left stick up/down | Left stick left/right | Right stick left/right |
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| ------------ | --------------------------------------------------- | ---------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ---------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
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| Ackermann | Drive the rover forwards/backwards. | - | Create a yaw rate setpoint for the control system to regulate. If this input is zero the control system will maintain the current yaw. |
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| Differential | Drive the rover forwards/backwards. | - | Create a yaw rate setpoint for the control system to regulate. If this input is zero the control system will maintain the current yaw. |
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| Mecanum | Drive the rover forwards/backwards. | Create a yaw rate setpoint for the control system to regulate. If this input is zero the control system will maintain the current yaw. | Drive the rover left/right |
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For the configuration/tuning of this mode see [Attitude tuning](../config_rover/attitude_tuning.md).
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## Position Mode
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:::info
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This mode requires a yaw rate, yaw, speed and global position estimate.
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:::
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This is the manual mode with the most autopilot support.
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The vehicle regulates its yaw rate and speed to a setpoint.
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If the yaw rate setpoint is zero, the controller will remember the GPS coordinates and yaw (heading) of the vehicle and use those to construct a line that the rover will then follow (course control).
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This offers the highest amount of disturbance rejection, which leads to the best straight line driving behavior.
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| Rover Type | Left stick up/down | Left stick left/right | Right stick left/right |
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| ------------ | --------------------------------------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ |
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| Ackermann | Stick position sets a forward/back speed setpoint. The vehicle attempts to maintain this speed on slopes etc. | - | Create a yaw rate setpoint for the control system to regulate. If this input is zero the control system will maintain the course of the rover. |
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| Differential | Stick position sets a forward/back speed setpoint. The vehicle attempts to maintain this speed on slopes etc. | - | Create a yaw rate setpoint for the control system to regulate. If this input is zero the control system will maintain the course of the rover. |
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| Mecanum | Stick position sets a forward/back speed setpoint. The vehicle attempts to maintain this speed on slopes etc. | Create a yaw rate setpoint for the control system to regulate. If this input is zero the control system will maintain the course of the rover. | Stick position sets a left/right speed setpoint. The vehicle attempts to maintain this speed on slopes etc. |
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For the configuration/tuning of this mode see [Velocity tuning](../config_rover/velocity_tuning.md).
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