Quote:
Originally Posted by lemiant
How do you keep the CIMs from putting out so much torque you break traction with the ground? Is there some way of measuring or calculating how much torque you are currently applying? Or of anticipating wheel slip, without actual having to have it occur?
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This was discussed a lot in 2009. Some teams used a form of Traction Control, some didn't.
One of the most simple ways to implement a form of TC was to program in a 'ramping' function so that the driver couldn't go from 0% (standstill) to 100% and spin the wheels.
Another method is to have an array of follower wheels that keep track of robots actual speed and compare this to the speed that the wheel is spinning at, if the two speeds are different, then your wheels are slipping and you adjust the motor motor speed accordingly.