I made a full RAMSETE controller algorithm to pull data from jerry.io files in python using vscode for my vex robot, but my program works in a straight line but when it turns/runs a curves path it just oscillates back and forth. I am wanting it to follow my planned path accurately as a nonlinear feedback controller like RAMSETE or a unicycle controller should. any ideas on how to fix this issue? i have tried adding a margin for error and adjusting my b and zeta values for tuning, i also have tried capping the speed of the motors and it still doesn’t work. The google doc linked below has my program in it. GoogleDocs Continue reading...
