Quote:
Originally Posted by inkspell4
Could you please further explain the function and purpose of the skim method. Im relatively new to learning how to program an arcade drive
|
The joystick value is a decimal from 0 to 1, and the robot drive method cuts everything off at one. That means you lose some sensitivity to turning at higher speeds because .75 throttle + .45 turn is going to result in 1.2, which gets cut back down to 1.0.
Skim takes whatever was left on the end (in this case .2), multiplies it by another value, (say .5), and then subtracts it from the other side of the drivetrain.
So instead of .75 throttle and .45 turn giving you full throttle on one side and .3 on the other, it gives you full throttle on one side and .2 on the other. So it's more accurate to the driver's input.
The trick is finding an algorithm that has a comfortable response curve.