Need Help With Mecanum Code

[Joseph DeRoest]

Okay, what we're trying to do is to, through LabVIEW, programmatically make a robot with a mecanum drivetrain drive "smoothly." We will be using PID, a gyro, and a Nav6 sensor. Any help will be appreciated. We encourage adding code examples in your answers.

Thank you!

[electronicsdude]

Okay, what we're trying to do is to, through LabVIEW, programmatically make a robot with a mecanum drivetrain drive "smoothly." We will be using PID, a gyro, and a Nav6 sensor. Any help will be appreciated. We encourage adding code examples in your answers.

Thank you!

You are probably going to need encoders on all four of your wheels for precise closed loop rotation monitoring. Otherwise your robot may drive erratically.

[Ether]

Okay, what we're trying to do is to, through LabVIEW, programmatically make a robot with a mecanum drivetrain drive "smoothly."

First and foremost, make it drive "smoothly" and predictably without sensors. Then integrate the sensors.

Don't try to fix poor craftsmanship with software.

http://www.chiefdelphi.com/forums/showpost.php?p=1420273&postcount=41

[Joseph DeRoest]

First and foremost, make it drive "smoothly" and predictably without sensors. Then integrate the sensors.

Don't try to fix poor craftsmanship with software.

http://www.chiefdelphi.com/forums/showpost.php?p=1420273&postcount=41




We already did make it drive smoothly without sensors.

[Greg McKaskle]

In that case, please describe the difference between what it currently does and what you want it to do.

What is the difference between driving smoothly and "smoothly"?

Please describe any sensors you have mounted, any data you've gathered from those sensors and the ideas for how you'd like the sensor data to affect the driving.

Greg McKaskle

[Joseph DeRoest]

My assumption was that a gyro and PID loops would make it the difference between smooth and "smooth". I could be wrong?

I understand that a good mechanical design is needed. What I want to assume is that mechanical is mostly perfect and we want sensors to correct any errors.

Right now, we do not have sensors mounted. However, we are getting a NAV6 IMU sensor to mount to give us that extra "oomph" (we haven't had good experiences with those AndyMark/KOP gyros).

Thanks!

[Ether]

We'd like to help you, but we need to understand what you are trying to accomplish before we can give suggestions how to do it.

My assumption was that a gyro and PID loops would make it the difference between smooth and "smooth".

There are many different ways you can integrate a gyro with your drivetrain control. Tell us what you want the gyro to do for you.

What I want to assume is that mechanical is mostly perfect and we want sensors to correct any errors.

What kind of errors are you referring to? What does the vehicle presently not do that you want it to do? Or conversely, what does the vehicle presently do that you don't want it to do?

However, we are getting a NAV6 IMU sensor to mount to give us that extra "oomph"

Can you explain what you mean by "oomph"?

Or, are you just seeking suggestions how encoders and IMUs can be used with a drivetrain?