Quote:
Originally Posted by Jay Money 1058
I'm not sure if this is exactly what you're looking for, but here is a video of my teams field oriented drive from 2010: http://m.youtube.com/watch?v=HT3WhTcQvw4
This was before my time in FIRST, so I probably won't be able to answer many questions about it, but I can direct you to people who can. |
Its not shown in this video, but later in that season we added the "Trigger Function" as we called it. It would take the magnitude of the joystick and apply that as the magnitude for driving, then take the angle of the joystick and use the PID loop seen in that video to control the angle. It made the drivers look really good when all they had to do was point a stick!
Its not terribly compicated, its just a matter of doing out the Trig/Linear Algebra if you choose to, or just running a few overlapping PID loops.