Quote:
Originally posted by sanddrag
Other teams I think had a sort of "soft-power" system where power to the motors came on slowly rather than all at once. However, I am not a programmer so I don't know how that works.
|
That's a "low pass filter" algorithm, an excellent way to prevent sudden spikes in the power. However, the driver deep down must ACCEPT that filtering.
Last year we tried filtering, but it became an unconscious "war" between our programmer and our driver! <chuckle> Each upped their effects, until the robot was sluggish and the driver started slamming the sticks like buttons. They were BOTH
bound and determined to get a
specific behavior out of the robot, and they didn't agree on what that was! I even started fearing for the sticks' survival, and we didn't have any spares!
I finally asked for ALL the filters to be ripped out of the code, and pleaded with the driver to "try not to break the robot too often" with the controls...
The robot worked fine, AND the code was simpler.
Anyone have better luck with filters?
Anyone have any OTHER good subroutines for breaker protection that work well DESPITE an "insistent driver"?
Has anyone found software "load shedding" to be useful, i.e. locking out the compressor or other "lower priority loads" whenever the drivetrain demands a panic boost? ("Scotty, we need more power for the warp drives!!!"
)
- Keith