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Does anyone know of a team who has implemented a DI mode I will call1 a HaloAR (AR=Auto Rotate), as described in this thread posts 5, 6, and 9?
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Interesting question, although I can't give you a definitive answer because I haven't seen every omni-directional drive. I can say, that I have never seen one that was programmed like this.
The proposed DI is somewhat similar to the system we will try to implement after we get a regular field-centric drive working. It is also quite similar to a DI that we have planed, and may end up using in future seasons.
I will just explain the one that we are implementing this off season right now. As I mentioned earlier, the primary challenge this off-season competition, is herding multiple 6" foam dodge balls with a three sided corral. The fact that you can only use a three sided corral means that if the robot were to drive straight forward at speed and the stop, the balls that are inside would roll out.
The solution to this problem was difficult to determine, but it is relatively simple to explain. There will be standard field-centric dive code running (one joystick gives field heading, the other gives rotation), but there will be another piece of code that will be added to the rotational part. The code will use an accelerometer to tell which direction we are accelerating, then is will run a control loop to make the front of the robot face in the direction of acceleration to automatically for any motion that the drive makes in field space. Probably, there will be a button that must be held down to enable this driving code, because for some operations in this game, the driver will want to control orientation.
Feedback on if you think it will work or not, and why would be appreciated.