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Unread 15-08-2015, 10:35
AustinSchuh AustinSchuh is offline
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FRC #0971 (Spartan Robotics) #254 (The Cheesy Poofs)
Team Role: Engineer
 
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Re: Team 254 Presents: 2015 FRC Code

Quote:
Originally Posted by x86_4819 View Post
What led you to use sin functions like this to scale your steering? Was it just trial-and-error, or was there some method to it?

Also, in the same code file, could you explain what you do with "negative inertia" better?
The goal of the sin functions is to make the turning input less sensitive in the middle and more sensitive at the edges. I'm sure you could do it other ways, but that was the first one which popped into my head in 2011 when that code was written. When you are barreling down the field at full speed, you want to be able to make fine corrections, and also be able to throw it into a pretty hard spin.

Negative inertia is an idea which I stole from the Thinkpad trackpoint. https://en.wikipedia.org/wiki/Pointing_stick It adds extra turn power in to compensate for the inertia of the robot. The end result is that the robot feels more responsive.