Quote:
Originally Posted by wsh32
How do you check your position in auto after you crossed a defense like the moat, where your wheels might be turning more than you're actually moving? Or did you not run into that problem?
|
1) we went slowly enough that worst case slip was limited.
2) we used closed-loop velocity control on the wheels to ensure that even if one side of the drive train momentarily lost traction, we didn't suddenly lose a ton of encoder ticks.
3) in the end, we didn't need to be that precise - our auto-aim could make the shot from anywhere in the courtyard, and on the way back we either just used a conservative distance (for our one-ball mode) or used a reflective sensor to ensure we didn't cross the center tape (for our two-ball modes).