Chief Delphi - Need Help With Robot Jumpyness

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Need Help With Robot Jumpyness

Hey guys!

(First post on CD, yay! :D )

I need some help making our robot less sensitive to the joystick, or some relative acceleration. I am using the basic tutorial code and an arcade drive.

Code:

RobotDrive chassis = new RobotDrive(1,2);

    Joystick main = new Joystick(1);

Code:

public void operatorControl() {

        chassis.setSafetyEnabled(true);

        while(isOperatorControl() && isEnabled()) {

        

          chassis.arcadeDrive(main);        

          Timer.delay(0.01);

        }

        }

Re: Need Help With Robot Jumpyness

Quote:

Originally Posted by weaversam8 (Post 1328673)

Hey guys!

(First post on CD, yay! :D )

I need some help making our robot less sensitive to the joystick, or some relative acceleration. I am using the basic tutorial code and an arcade drive.

Code:

RobotDrive chassis = new RobotDrive(1,2);

    Joystick main = new Joystick(1);

Code:

public void operatorControl() {

        chassis.setSafetyEnabled(true);

        while(isOperatorControl() && isEnabled()) {

        double y = main.getY();

        //scale down the max y

        y = y * .6;

        double x = main.getX();

        //scale down the max x

        x = x * .6;

        

        //dynamically scale x

        if(x > 0){

            x = 1.0057*x*x - 0.0537*x + 0.0237;

        }else if (y < 0){

            x = -1.0057*x*x - 0.0537*x - 0.0237;

        }

        

        //dynamically scale y

        if(y > 0){

            y = 1.0057*y*y - 0.0537*y + 0.0237;

        }else if (y < 0){

            y = -1.0057*y*y - 0.0537*y - 0.0237;

        }

        chassis.arcadeDrive(y,x);     

          Timer.delay(0.01);

        }

        }

I've updated your code with a simple scalar function.

I just used excel and plotted a 2 order polynomial trendline.

Here are the scalars I used:

for less than 0:
in : out
-1 -1
-0.75 -0.5
-0.5 -0.25
-0.25 -0.12

0 0

for greater than 0:
in : out
0.25 0.12
0.5 0.25
0.75 0.5
1 1

If its still too fast I would start by reducing the starting scalar.

Re: Need Help With Robot Jumpyness

Thanks, that worked! A note to anyone else who wants to use this, 0.6 is too low of a scale factor for the 2 motor long AM14u chassis, we use 0.9. Also, there was a small error in the code above, one place where it says Y is supposed to be X. I am sure you can see that easily. Thanks again everyone. :D