Hyper 69 driving video
 

Here's a video we just recorded today, http://www.youtube.com/watch?v=U72MSfmUtoo

Re: Hyper 69 driving video
 

wow if you guys can control that back end kicking out that will really help you turn.

Re: Hyper 69 driving video
 

You are going the wrong way :ahh: :ahh: :ahh:

Looks good though

Re: Hyper 69 driving video
 

is that car steering by any chance?? nice vid though, you got some speed!

Re: Hyper 69 driving video
 

Yes it is like car steering. It is called quadrasteer and we are workin to make it have better control.

Re: Hyper 69 driving video
 

Remember loose is fast. With a lot of practice you will be able to use it to your advantage and fly around the track. It's harder to drive but can be much faster.

Nice job.

Re: Hyper 69 driving video
 

Great speed!

Also, when i watch this video, the following plays in my head: "This looks like a job for gyro auto-stabilization!"

If you let your programmer(s) chew on it and you might be surprised what they come up with.

The robot is moving so fast in the video I can't make out what's steering your robot? What kind of motor? Guessing your PID'ing it to a position?

-q

Re: Hyper 69 driving video
 

So both the front and back wheels are turning in opposite directions to give a tighter turning radius? Is it like those trucks from a couple years back? I can't remember who made them...

I'm sure with more weight from the manipulator the drift won't be nearly as bad. Can't wait to see exactly how it works!

Re: Hyper 69 driving video
 

No pid yet, I do plan on implementing one though. I don't know about using a gyro for control, I would have to think that one though. We were going about 40% full speed. It was unstable because of the lack pid on the steering. 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.

Edit: I just realized I could use the gyro to keep it going parallel with the length of the field. Thanks for the idea Q.

Re: Hyper 69 driving video
 

Yeah, that will happen. What you need to do is create a function that will cut the speed down by a percentage, and put it on the motor that goes faster. It takes a while because you need to just guess and check, but trust me, in the end its worth it.
Joey

Re: Hyper 69 driving video
 

What is your projected "full" speed?

Re: Hyper 69 driving video
 

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

Re: Hyper 69 driving video
 

I think it was 10 fps at 120 lbs.

Re: Hyper 69 driving video
 

you should test your driving on carpet
and take in to account that there are going to be other bots on the field while driving. Your statagy might be speed but other bots might be very slow so you need to learn how to steer better.
try to program your controler to be less sensitive.
also try some omni wheels if you have a problem with turning
nice bot

Re: Hyper 69 driving video
 

Umm I'm pretty sure that was on carpet. If it was his first time driving then yea, he should learn how to steer better. Omni's wouldn't really work with quadresteering.


I like it a lot. I can't believe that's only 10 fps. You were zipping around the track like crazy (and losing like 150 points in the process for penalties for going backwards :P [yes I know you know you were going backwards]).

Re: Hyper 69 driving video
 

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

I agree.

Re: Hyper 69 driving video
 

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
 

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
 

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