Quote:
Originally posted by Frank(Aflak)
I have only one question. When you get bumbed and the controller compensates. What if the wheels slide? Or it you rotate at greater than the max rot. veloctiy of the gyro? Im assuming that your program cannot compensate for that, but if it can I would love to know how. It seems a magnetic sensor would be much more failsafe than the gyro.
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If the wheels slide or we turn faster than 75 degrees/sec we cannnot compensate. However, as I mentioned this hasn't been a problem at all. As for the magnetometer, we spent a ton of time looking into using one and determined that it was not workable. There was just too much magnetic interference from all the metal and the motors in the robot.
We did some practice runs at home where we put as many bins in front of it as possible which caused the robot to get turned about 90 degrees. It didn't matter, though - it just drove up the ramp sideways! I should see if there's some video of that somewhere. It won't behave like that anymore because since then we've implemented something we call "theta correction" which keeps us oriented correctly on the field at all times. Some of you may have noticed that when we ran our "sweeper" program - the robot would appear to be twisting as it diagonally crossed the scoring area. That was caused by our drive train twisting the robot and then our software detecting that and correcting for it.