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Originally Posted by notmattlythgoe
Thanks for the negative inertia idea guys. We got it implemented and tested last night and are very pleased with the results. Have you run into any issues during competition with it that we should keep an eye out for? Have you noticed any extra drain on the battery by adding this in?
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Our drive code hasn't changed in a couple years. My (maybe wrong) memory is that we've discussed the drive code in previous years' 254 code release threads, and those should have some good info. I think I went into some of the design goals in one of those threads, but it has been a while.
We haven't noticed negative effects. One of the main goals of the drive code is to have the robot respond consistently exactly like the driver intends it to. Try driving the bot hard in a bunch of different scenarios and make sure you don't find anything unexpected.