
19-11-2013, 14:06
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systems engineer (retired)
no team
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Join Date: Nov 2009
Rookie Year: 1969
Location: US
Posts: 8,125
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Re: Team 2471 swerve drives
Quote:
Originally Posted by Bryce2471
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.
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What is the benefit of rotating based on acceleration, instead of joystick angle?
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