Re: Robot Drifting
 

How about just using a gyro to keep a true bearing durng autonomous. Otherwise, I'm with John, HuDAVS is the way to go. You are just limiting your total drive train power with any other method.

Re: Robot Drifting
 

#define's don't evaluate expressions.
You don't evaluate (150/100). You evaluate (x * 150 / 100).
To get a floating point effect you do all your multiplication first, then all your division.

In integer math,e.g.,

x = 150/100 * 100 = 100
but
x = 100 * 150 / 100 = 150

Just be careful to type cast the expression to the largest size you need, e.g., using all char for the above will return an incorrect result.

Re: Robot Drifting
 

You Constant (#define) can be a floating point value.
but....
when you apply it in your program the result will be an int.
ie.

#define CONSTANT 1.5

int adjust_speed(int speed_in)
(
int speed_out;
speed_out = (speed_in/CONSTANT);
return speed_out; //sends back an int
)

Re: Robot Drifting
 

We use three methods: a gyro, the IR, and shaft encoders to maintain heading, position, and orientation during autonomous, but that doesn't help teams that don't have them. The method I suggest is for teams without any of these. It's essential if you are using true dead-reckoning.

We don't use any of them during driving mode, although we do sometimes modify the power curve to give more range at the low-end.

There are lots of answers and you'll see as many software solutions as robot solutions to FIRSTs game. It's part of what makes it all so interesting.:cool:

Re: Robot Drifting
 

however, the floating-point constant forces the processor to do floating point math, which is slower. in this case, using
is better, because the processor can use integer math, which is faster.