Quote:
Originally Posted by AdamHeard
The code just takes three inputs, X translation, Y translation, and rotation rate. The code outputs the proper wheel angles and speeds for all cases with <20 lines of calculations, very simple ones at that. The cRIO handles it with no problem.
This is very intuitive to control, one stick translates (move that way, it goes that way), and another is your rotation (move this and it rotates (in addition to the translation)).
Check Ether's uploads for his equations, you'll see it's almost a trivial problem at that point.
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That would not be unicorn drive. You can also control center of rotation in a unicorn drive which adds 2 more variables. These would be the two that you would preset to make driving easier, otherwise, in the most intuitive drive interfaces, center of rotation would be controlled by a second joystick, alternatively, you could use polar coordinates and one joystick. In this setup the x and y axes give you translation angle and velocity while the z-rotational (twist) axis controls turning radius and the z-axis (throttle) controls the front to back variation of the center of rotation.