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Unread 03-05-2011, 22:42
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Mark McLeod Mark McLeod is offline
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Re: paper: Have you noticed that you don't get full speed in FTC Autonomous?

Since I don't own one, so I certainly cannot say one way or another, however, your protests don't match your reported data...

I wouldn't call it allocating overhead though. I would say it is possibly due to a limitation on flash storage for the sophistication of the algorithm chosen. It might keep the cost of the development/components low.

Quote:
Originally Posted by PhilBot View Post
If I issue a command for the left wheel to go 1000 clicks at 50% speed and the right wheel to go 1000 clicks at 100% speed, should it synch? Clearly not. One needs to run for twice as long as the other.
I do think of these as potentially sync'able. It's how to get repeatable curving turns.
The way to prove/disprove of course is to see if they both finish at the same time. If that 50%/100% is a maximum limit, then it may choose the lesser. Maybe it'll be a proportional finish. If they don't finish via some derived relationship then maybe it only matches them if the speeds are set the same or encoder totals are close.
A few more experiments to reverse-engineer the algorithm might give you some confidence as to what Set to Position is designed to do.

Whatever other purposes that you decide to put the controller to, it appears that the Set to Position mode might be designed with tank drive in mind.
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Last edited by Mark McLeod : 03-05-2011 at 23:22.
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