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This looks like a common angle wrapping mistake. I am assuming you're defining your angles between -180° ($-\pi$) to +180° ($\pi$). Let's say your current heading is -170°. And you desired heading is 170°. The error in angle is: 170 - (-170) = 340, so your robot has to do almost a full turn to get to the desired heading. Since you're defining your angle in ...


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For a similar problem (TT motors can't start the bot rolling on a carpet) I have been toying with the idea of setting up PID control for the angular velocity. If it stays stuck, the integral term will start upping the power. Once it suddenly breaks loose, the differential term will throttle it back. That's the idea, anyway -- someday I'll actually try it. ...


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tl;dr: don't worry about it Your system really operates in continuous time, described by differential equations. It's a convenient, even necessary, approximation to use discrete time and difference equations. The dynamics solution would result from integrating the differential equations; the difference equations approximately solve the problem by doing ...


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If you want to have a model that will behave closely to a real-life one, I would definitely believe that you should also have a look at the dynamic modeling of a differential drive robot, as Kinematic equations do not include the forces and torques acting on your robot. In fact during the simulation part of a real-world control problem, you should use the ...


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