Chief Delphi - Hyper 69 driving video

Chief Delphi (http://www.chiefdelphi.com/forums/index.php)

- Robot Showcase (http://www.chiefdelphi.com/forums/forumdisplay.php?f=58)

- - Hyper 69 driving video (http://www.chiefdelphi.com/forums/showthread.php?t=63067)

Re: Hyper 69 driving video

Quote:

Originally Posted by Wayne Doenges (Post 690434)

You are going the wrong way

110 penalty points. Your alliance partners will love you ;)

Quote:

Looks good though

I agree.

Re: Hyper 69 driving video

Quote:

Originally Posted by baop858 (Post 690519)

I remember seeing those commercials, oh I miss the days when I time to watch TV. I think it was Ford?

i'm pretty sure it was GMC. I remember the commercial with the guy driving his truck into a narrow space in his farm.

Re: Hyper 69 driving video

Quote:

Originally Posted by GMAdan (Post 690595)

i'm pretty sure it was GMC. I remember the commercial with the guy driving his truck into a narrow space in his farm.

I think it was a Yukon Denali. In the background they were playing "It don't mean a thing if it ain't got that swing" or something like that.

Re: Hyper 69 driving video

how much more have you put on that robot?? it looked impressive but someone said that was what you had up to that point. it was kinda like tokyo drift. it think you should make it a tad bit tighter but not too much. at least enough so that it doesnt almost spin out?? otherwise thats really good:D

Re: Hyper 69 driving video

Quote:

Originally Posted by baop858 (Post 690514)

... But has anyone notice that the victor are uneven, like in one direction there's slightly less power than if it was going in the other direction with the same amount of difference from neutral, 127.

Short answer: use 132 for the center, rather than 127. Yes, this is contradictory to everything in the IFI documentation and on their web site. However, our empirical tests bear this out again and again, on different motors. How did we get to this determination?

Well, we observed in 2005 that our robot's right side and left side drive motors seemed to be mis-balanced, and wrote the matter off to the fact that the motors on one side were going forwards and on the other side were going backwards.

In 2006 when programming a PID control loop for shooter azimuth control, we became convinced that the actual center for the victors is 132, rather than 127.

In 2007, we did yet more PID control for a multi-jointed arm, and again found the center to be 132.

In 2008, with PID control for the rack-and-pinion steering on our "Speed Racer" we have again found the PWM center to be at 132. We don't have an oscilloscope to verify this, but have verified this empirically again and again.

For another datapoint, check out the camera control code at kevin.org. Oddly enough, you'll find that the center value used is 132...

Best regards,

--ken