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Unread 18-01-2015, 13:40
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Drive System Control Compensation

I'm looking for techniques to use for compensating the drive system for speed and control.

Conceptually, I'm looking for techniques for smooth acceleration and for fine speed control.

I'd like to prevent the robot from accelerating too quickly. The usual process is to just transfer the joystick value to the drive motors and just use the motor acceleration curve. I'd like to have more control over that curve. I'm looking for ideas for what the transfer function looks like for controlling that curve.

For fine speed control, I'd like to do something like a computer mouse control. Some mice have a transfer function that allows for micro control at small movements but accelerated control at larger movements. This allows you to move the most quickly across a large screen without actually having the same real estate.

Any articles or suggestions for similar ideas would be a great help.

Thanks,
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Duane Murphy
Mentor - Software
Vanden Vikings FIRST Team 701
http://www.vandenrobotics.com