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Re: pic: Toltechs drive-train teaser
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Promised Video
As promised, mentor D. Sean Kelly did a quick edit and uploaded a .wmv to our site, you can view the first cut of our robot driving in the shop. Not seen in this video is the code addition which allows us to complete zero degree spins in C.W. or C.C.W. via a second controller. :cool:
http://www.toltechs.com/Rocket/Uploa..._Holonomic.wmv |
Re: pic: Toltechs drive-train teaser
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Re: pic: Toltechs drive-train teaser
Love the video - that base looks slick. Do you have closed-loop speed control over the wheels? It looks like the lines it's moving in are way too straight to be from open loop motor commands. Of course, I've never built a base like that, so what do I know.
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Re: pic: Toltechs drive-train teaser
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Now how best to get closed-loop feed back from such a drive. Encoders on the wheels may be one way to ensure that all the wheels are spinning at the desired rates but with the large amount of scrub in such a system we are not certian that solves the problem. What does provide true feed back would be one of the electronic chips. Gyro / 2D accelerometer We are getting those items wired and the programmers will work with those a bit while they also work on the camera system being the feedback system for shooting solutions. :ahh: Lots of work to do in just two weeks. :eek: |
Re: pic: Toltechs drive-train teaser
Looks like you guys are wel on your way to having a drivable holonomic system. Good luck with that!
Just a question, have you guys tried doubling up the omniwheels with an offset so that theres always a roller in contact with the ground? We found it to work better with 2 offset wheels, basically the problem without the offset is that without it, the wheel isnt really round, so it bounces and doesnt slide quite as well. Good luck to you guys and i hope to see you in houston! |
Re: pic: Toltechs drive-train teaser
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work now is focused on autonomous modes and getting the mechanics of the ball harvesting complete and shooting :) Thanks, APS |
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