1058's Field Oriented Drive
 

Here is some video of our field oriented drive system for 2010. Basically no matter which way the robot faces if you push the joystick forward it will go forward.

I know it's been done before but it's beautiful anyways and it uses some neat technology to automatically reset its position when pushed or after going over the bump.


http://www.team1058.com/media/video/...dDrive2010.mov

Re: 1058's Field Oriented Drive
 

I got to say....that is by far the smartest bot I've seen...

I understood and even think I can replicate the field orientation with the gyro, but...how does the positioning work ?

Again...I'm highly impressed.

Re: 1058's Field Oriented Drive
 

you're selling yourself short in this post I think, that is probably the smartest robot I've seen, and it would probably be very easy for a rookie driver to pick up the joysticks and learn quickly how to drive.

Have you tried using a gamepad of some sort instead of joysticks?

beautiful programming though

Re: 1058's Field Oriented Drive
 

Very slick code work and explained so well that even I, a programing illiterate, could understand it.

Good work

Re: 1058's Field Oriented Drive
 

That is amazing! just like in the posts above, i cant do crap with programming and yet i could now describe how this works to our programming team

you guys should get a big award for this cause that ROCKS!

Re: 1058's Field Oriented Drive
 

Very impressive programming. One of the most intuitive robots of the year so far.

Re: 1058's Field Oriented Drive
 

Thanks for the compliments! I'm not going to give away all the secrets without permisson from the 2 guys who programmed it (Brendan the guy in the video being one of them)

We're really happy with how it worked out. We ended up buying a nice 3axis joystick so you can just twist the handle to rotate the robot. We also added some automatic features for balancing on the bump and aiming purposes. Check out this video to see the bot on the bump and we'll see you at GSR and Chesapeake!

www.team1058.com/media/video/Drive_Test_2010.mov

Re: 1058's Field Oriented Drive
 

That is very impressive, i can easily see how that software would make for a huge advantage in the 08 game. This year it might cause some problems as you can't climb the bumps while not directed right in front of them, but you must save it for future years, it's amazing.

Re: 1058's Field Oriented Drive
 

Very impressive programming.
Our robot uses the same idea this year... I think it will serve us well.
We use a single joystick for that translational motion and a dial to rotate the robot on its center (We are using a mecanum)

I will be interested to see how you do on the field. I bet it will be very useful!!

Great job on both the programming AND the explanation...

I hope we see you in Atlanta!!

Re: 1058's Field Oriented Drive
 

Very nice Brendan! I remember you telling me about it at the unveiling, but I didn't think it would work. That is really cool! I want to drive it!:p

See you at GSR!!:)

Re: 1058's Field Oriented Drive
 

Wow. Your team should be incredibly proud, as that is one of the smartest drive systems I have seen in FIRST. Seriously good work.

Out of curiosity, what sensors did you throw on there? I'm guessing gyro and compass, possibly accelerometer, but I'd be curious to see how they interact, and what controls what.

Re: 1058's Field Oriented Drive
 

Don't worry. We have a solution for that! We get over the bumps just fine! :D

Re: 1058's Field Oriented Drive
 

Amazing! I'm speechless!:eek: Awesome work guys!

Good luck in all of your regionals!

Re: 1058's Field Oriented Drive
 

Really neat drivetrain control system! Really wish our team used a drivetrain like that so we could program it to act as such.

Very nice job. Bravo.

-Tanner

Re: 1058's Field Oriented Drive
 

Wow, I just was just informed about this thread...

Thanks guys!!!!!!

I didn't realize people would love our drive system so much...Me and my friend Brian spent about 3 math classes (with somewhat aprooval of our teacher) writing psudo-code for this....because the code that WPI gives us was lables as "experimental" so we decided to write it all custom...plus its more fun that way :)