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Jnadke is right, there is a very noticable change in the power on the drills, enought that without this:
IF ( (HighGear=1) AND ( ChipDriveLeft > 127 )) THEN 'When in High and driving forward reduce Left Drill Power
DrillDriveLeft=127+(((ChipDriveLeft-127) *9)/10) MIN 127 MAX 254
ELSE
DrillDriveLeft=ChipDriveLeft
ENDIF
IF ( (HighGear=1) AND ( 127 > ChipDriveRight )) THEN 'When in High and driving reverse reduce Right Drill Power
DrillDriveRight=127-(((127-ChipDriveRight) *9)/10) MIN 0 MAX 127
ELSE
DrillDriveRight=ChipDriveRight
ENDIF
Our robot wouldn't track straight, next year we will try to make left @ right trun the same direction to get max power out without software limiting.
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Robonaut Next Generation Control System Development
2003 GLR Champions (302,67,226)
2003 Buckeye Semi-Finalists(902,494,226)
2002 Nationals QuarterFinalists
2001 West MI QuarterFinalists
2000 GLR Semi-Finalists
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