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Unread 04-09-2011, 20:36
ajlapp ajlapp is offline
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AKA: Anthony Lapp
None #0118 (Team RUSH and Robonauts)
 
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Re: Crab drive steering

Quote:
Did you determine the relationship between the steering angle and the skid-steer compensation empirically or by analysis?
Our algorithm was purely empirical. We set up a linear relationship between angle and "detuning" of the inside wheels.

More important to me isn't that we have Quadrasteer (formerly Monster Truck)...it's that you can access tank, crab and Quadrasteer from the same steering setup. Our control scheme uses two sticks on a PS style gamepad.

Tank:
Left stick up/down is driver side throttle
Right stick up/down is pass side throttle

Quadrasteer:
Left stick up/down is all wheels throttle
Right stick left/right is steering

Crab/swerve:
Left stick up/down is all wheels throttle
Right stick left/right is all wheels steer angle

Each of these modes is access by holding a top or trigger button....I prefer to have it setup as momentary.
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Anthony Lapp
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