Hi Jesse :-)
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Originally Posted by JesseK
When translating on the 45-degree relational diagonal (i.e. 0 degrees = full forward, 90 degrees = full right, so at 45 degrees the bot goes forward & right), 2 motors are completely turned off by the algorithm.
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Yup. And so the available driving torque at the wheels to keep the bot moving against the rolling resistance is half. And so the top speed in that direction will be substantially less than that predicted on the basis of kinematics assuming no load.
Quote:
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In the 2nd mode, the driver would be limited to robot-centric tank drive with 90-degree strafing. The driver would be in the 2nd mode most of the time.
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What driver interface do you have in mind for this? Perhaps divide this 2nd mode into 2 modes?
Mode 2a: Standard 2-joystick Y-axis-only tank drive (X-axes disabled)
Mode 2b: Right (or left) X-axis commands strafe (disable Y-axes)