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-   -   Team 968 Traction Control Demo (http://www.chiefdelphi.com/forums/showthread.php?t=74824)

kiettyyyy 17-02-2009 17:09

Team 968 Traction Control Demo
 
Here's our traction control demo that we performed a few weeks ago.

http://www.youtube.com/watch?v=3kszG...e=channel_page

Pjohn1959 17-02-2009 17:31

Re: Team 968 Traction Control Demo
 
Nice side by side comparison. That just goes to show the importance of having traction control this year.

Qbranch 17-02-2009 17:49

Re: Team 968 Traction Control Demo
 
Very cool. Nice implementation, well documented results.

Kudos, programmer... whomever you are.

-q

kiettyyyy 17-02-2009 18:41

Re: Team 968 Traction Control Demo
 
Quote:

Originally Posted by Qbranch (Post 823277)
Very cool. Nice implementation, well documented results.

Kudos, programmer... whomever you are.

-q

;) thanks.

David Brinza 17-02-2009 18:53

Re: Team 968 Traction Control Demo
 
Good job, RAWC! I look forward to scouting you in San Diego.

Effective traction control coupled with a good ball dumping system will make your team "devastating".

ehochstein 17-02-2009 19:19

Re: Team 968 Traction Control Demo
 
The only reason I personally do not like traction control is because of pushing other robots, or your robot getting pushed, then you are kind of screwed. I think the best way of performing this year will be a team who has traction control, but can still turn it off if they need to.

and Great job! We tried doing traction control but we decided against it.

AdamHeard 17-02-2009 19:22

Re: Team 968 Traction Control Demo
 
Quote:

Originally Posted by Wiifi (Post 823378)
The only reason I personally do not like traction control is because of pushing other robots, or your robot getting pushed, then you are kind of screwed. I think the best way of performing this year will be a team who has traction control, but can still turn it off if they need to.

and Great job! We tried doing traction control but we decided against it.

why turn it off?

ehochstein 17-02-2009 19:25

Re: Team 968 Traction Control Demo
 
Quote:

Originally Posted by AdamHeard (Post 823382)
why turn it off?

So it is easier to defend from other robots pushing you, and to push other robots.

If you completely stop moving your robot you're still going to have those 5 seconds where the robot will start moving slowly and gradually pick up speed.

AdamHeard 17-02-2009 19:33

Re: Team 968 Traction Control Demo
 
Quote:

Originally Posted by Wiifi (Post 823388)
So it is easier to defend from other robots pushing you, and to push other robots.

If you completely stop moving your robot you're still going to have those 5 seconds where the robot will start moving slowly and gradually pick up speed.

A well implemented traction control system will decelerate and accelerate substantially faster. Turning it off would make it worse.

Lil' Lavery 17-02-2009 19:36

Re: Team 968 Traction Control Demo
 
Quote:

Originally Posted by Wiifi (Post 823388)
So it is easier to defend from other robots pushing you, and to push other robots.

If you completely stop moving your robot you're still going to have those 5 seconds where the robot will start moving slowly and gradually pick up speed.

Traction control isn't just slowing your acceleration. When effectively implemented, like it was by 968, it will increase your acceleration. Just look at the video 968 posted.

kiettyyyy 17-02-2009 19:49

Re: Team 968 Traction Control Demo
 
Quote:

Originally Posted by Wiifi (Post 823388)
So it is easier to defend from other robots pushing you, and to push other robots.

If you completely stop moving your robot you're still going to have those 5 seconds where the robot will start moving slowly and gradually pick up speed.

If you implemented a system where the 'bot increases the power output in relation to time, you'd get that effect.

If you have a traction algorithm that increases/decreases power output in relation to the amount of wheel slip, you would actually be able to accelerate and decelerate much faster; which, in turn, makes it easier to "defend from other robots pushing you".

Also, with TCS, you'd have a better chance at pushing objects on the field.

If you grab a stack of books and have your robot push against the stack while running your wheels at full speed, you'll move no where in a hurry. On the other hand, with TCS, you'd push the stack away at the quickest rate your wheels can spin without slipping.

ehochstein 17-02-2009 20:00

Re: Team 968 Traction Control Demo
 
Quote:

Originally Posted by kiettyyyy (Post 823421)
If you implemented a system where the 'bot increases the power output in relation to time, you'd get that effect.

If you have a traction algorithm that increases/decreases power output in relation to the amount of wheel slip, you would actually be able to accelerate and decelerate much faster; which, in turn, makes it easier to "defend from other robots pushing you".

Also, with TCS, you'd have a better chance at pushing objects on the field.

If you grab a stack of books and have your robot push against the stack while running your wheels at full speed, you'll move no where in a hurry. On the other hand, with TCS, you'd push the stack away at the quickest rate your wheels can spin without slipping.

Ah, thanks I understand now I was thinking of just a programmed in "increase speed for 5 seconds then steady the speed" so without sensors.

R.C. 17-02-2009 20:24

Re: Team 968 Traction Control Demo
 
The Vid is like down or not available, could someone please re-upload this.

EDIT EDIT: IT WORKS NOW, I DUNNO WHY?

danshaffer 17-02-2009 20:54

Re: Team 968 Traction Control Demo
 
A technical question: do you have any sensors to see if your wheels are slipping, or did you just hard-code in empirical values for max acceleration and deceleration?
Very nice, I like it. Saw that bot in blue yesterday, should be a real threat in either color.

kiettyyyy 17-02-2009 21:24

Re: Team 968 Traction Control Demo
 
Quote:

Originally Posted by danshaffer (Post 823509)
A technical question: do you have any sensors to see if your wheels are slipping, or did you just hard-code in empirical values for max acceleration and deceleration?
Very nice, I like it. Saw that bot in blue yesterday, should be a real threat in either color.

We're using a follower wheel setup with US Digital S4 256 count encoders.


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