Quote:
Originally Posted by wireties
So "Cheezy Drive" is really just split arcade like a lot of game controllers (where normal arcade Y is on one joystick and normal arcade X is on a second joystick)? I suspect they also do something special when Y input is zero and X non-zero to spin in place?
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What you described is split arcade. Arcade is where X (or Y, I always get them mixed up) controls the power to apply to both sides, and the other axis controls the difference in power to apply to the wheels.
Code:
Vl = throttle + steering;
Vr = throttle - steering;
Cheezy Drive is split arcade on steroids. It can best be described as making your robot drive like a car. This has the side effect of not letting you turn in place, so there is a button that when held bypasses the car steering part and switches back to split arcade. This button is called 'Quick Turn'.
Code:
adjusted_wheel = SensitivityRemap(wheel);
Vl = throttle + adjusted_wheel * abs(throttle) + inertia compensation terms;
Vr = throttle - adjusted_wheel * abs(throttle) - inertia compensation terms;
The end result is that when the robot is tuned properly, it feels consistent through a wide range of motions. The robot reacts the same to the joystick inputs at high and low speeds. Arcade has the problem that when you want to drive in an arc at slower speeds, you end up over-steering since you need to only use a small range of stick movements to get the turns you want. The inertia compensation terms add extra power to start the robot turning and stop it again when the wheel angle changes. This helps the robot feel 'psychic' and start turning as the driver starts demanding a turn, not after.