Quote:
Originally Posted by Gdeaver
Looks like a happy happy joy joy moment. Some thing does not sound right when the module was rotating and driven. Those are wide wheels and may cause problems with amp draw on both drive motors and steering. Pay close attention to the tuning of the steering pid. You can have to much traction. For a fall back you might want to consider 1-1/2 or 1-1/4" Colsons. Next, get 4 of them on a frame and get programming. Then you will be half way there. Driver training is the last half. If you get it going before kick off, do you want to meet and do some swerve on swerve driving?
Note for the drive encoder, Do you really need quadrature? Wouldn't a tachometer solution be good enough? I do not now what the under side of the coaxial pulley looks like but, could you put some reflective tape strips on it and use a optical reflective sensor? We used a magnet solution last year and will use optical this year.
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It was (MOE cheer right after the video cut out
) If you were referring to the pulsating of the sound I think that was because most of the noise was coming from the bevel gears and their location was changing relative to the mic, but I will look into it. Do you grease yours? We also have not played with tension of the rotation motor belt, we will look into that next meeting (we did notice it affected the speed of rotation between modules) We will definitely be keeping an eye on the amps and have Jags on every motor to monitor that, The RoboRIO should also make that easy when it arrives. We will hopefully get driving by Monday. Our programmers already have a basic crab drive program and are working on fancier moves now. I think we would love to have some swerve on swerve driving! You and your team have already been a great help this summer, I will ask the drive team about this at the next meeting and get back to you.
As for the encoders we debated this, but we haven't had very reliable results from magnetic sensors in the past, and there is not much room to mount an optical sensor under the pulley. We also had all the encoders we plan to use in stock so we just went with them.