Chief Delphi - 1 joystick controls not turning properly

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1 joystick controls not turning properly

When I load this code, the drive seems to mess up. Going forward and back is fine, but it won't turn to the correct side. When I turn "RIGHT" it turns "LEFT", when I turn "LEFT" it turns "RIGHT"
I've also tried switching the PWN cables but that just really messed up the controls because it was going backwards.

Code:



 

 /*---------- Analog Inputs (Joysticks) to PWM Outputs-----------------------

  *--------------------------------------------------------------------------

  *   This maps the joystick axes to specific PWM outputs.

  */

  //pwm01 = p1_y;

  //pwm02 = p2_y;   

  pwm03 = p3_y;   

  pwm04 = p4_y;   

  pwm05 = p1_x;  

  pwm06 = p2_x;   

  pwm07 = p3_x;   

  pwm08 = p4_x;   

  pwm09 = p1_wheel;

  pwm10 = p2_wheel;   

  pwm11 = p3_wheel;   

  pwm12 = p4_wheel;   

  

 /*---------- 1 Joystick Drive ---------------------------------------------

  p1_x = 255 - p1_y;

  p1_y = 255 - pwm05;



  pwm01 = Limit_Mix(2000 + p1_y + p1_x - 127);

  pwm02 = Limit_Mix(2000 + p1_y - p1_x + 127);

We also tried this: (reversing the signs

Code:

  

pwm01 = Limit_Mix(2000 + p1_y - p1_x +127);

  pwm02 = Limit_Mix(2000 + p1_y + p1_x - 127);

Re: 1 joystick controls not turning properly

before the 1 joystick drive portion, do this:

p1_x = 254 - p1_x

This will make the math controlling the 1-joystick drive believe that the joystick is facing the opposite direction than it is.

Re: 1 joystick controls not turning properly

Quote:

Originally Posted by andrew_4_life (Post 725878)

It sounds like you just need to redefine which direction is "forward" on your robot. :)

Seriously, Bongle has a suggestion that will work. You could also fix it in hardware by swapping the motor connections on the output of the speed controllers. That will make the motors run in the proper direction.

Re: 1 joystick controls not turning properly

Quote:

Originally Posted by Alan Anderson (Post 725916)

I'll test out Bongle's suggestion tomorrow when I have access to the robot. But your suggestion of switching the motor connections on the output for the victors won't work because then it will drive backwards when I tell it to drive forwards. You suggestion can easily be done by swapping the PWM cables, but like I said, it makes everything backwards and still turns incorrectly though.

Re: 1 joystick controls not turning properly

This year, for some reason, every single one of our joysticks was giving us the wrong (opposite) 0-255 numbers on the x-axis. We had to flip it in code.