| Aren Siekmeier |
08-31-2011 12:11 AM |
Re: Swerve Gear Box
Quote:
Originally Posted by PAR_WIG1350
(Post 1075444)
That's why I said variables, not degrees of freedom. Also, my original point was that this method works best with different modes that emulate different steering setups so that the driver does only deal with three variables at a time. However my preferred three variables are speed, direction, and radius rather than X, Y, and spin because when I move I am not analyzing my X and Y translation and my rate of rotation. My theory is that by having the code work with the way the human brain does, then the driver can more easily develop his or her skill to the point at which movement of the machine is unconscious and automatic. This is a topic that could be debated ad nauseuam without any thing being agreed upon, as is the case when one starts talking about how the brain works, as such, let's not.
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You've hit it right on the nose. Driving needs to be intuitive and natural. For some, this means vx, vy, and omega, for others, what you've described, and even more, which is why it is very useful to be able to handle several different modes so the driver him/herself can explore what works best. It can even be game specific.
I would argue, however, that the control algorithms work best when fed vx, vy, and omega, since these are exactly the time derivatives of the three degrees of freedom of a solid body in two dimensional space, and can therefore describe any and all motion (using very simple kinematics). Then you just need to be able to convert whatever inputs from the driver to these parameters (also using simple kinematics). And vectors make all the math much, much happier. |
