speed bumps

After a couple of days work, I reached much better speed control. The control_loop now seems to work pretty much, in both directions, ramping up/down the speed as desired.

Unfortunately, I'm getting pretty bad results still - but to be honest, I don't think this is due to errors on my part, but mainly because of mechanical properties of the robot.

The turrets don't turn lightly and with the same resistance over the full 360 degrees. Instead, the force to be applied varies greatly, and even a sometimes pretty nasty screeching sound can bea heard.

Yet I'm pretty satisfied - I ironed out quite a few wrinkles and am prepared now to tackle positional control as well. After that is reached, I hope I can measure the calibration values for the various turrets to make the robot controllable.

And I also hope that the mechanical problems/properties change a bit if the robot is placed on the ground. That will make the intrinsic forces only be a fraction of the combined ones from friction and inertia - which will hopefully smoothen the ride considerably.

So - as usual, small steps, but significant.