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Originally Posted by Jay Lundy
When we turn the robot, it only turns on the center wheels, and it flies at about 1 rev / s. That may sound good but it makes it impossible to control. Luckily they improved the controller this year, so we're working on a positioning system, most likely with the 300 deg / s gyro from Analog Devices (with increased range) and optical encoders on the wheels (at least, that's what I'd like to do).
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Hmm...does it only turn on the center wheel?
If it was able to steer using the other four, i would recommend that the center wheel be used for quick turns ie. push a button and you get an immidiate 90* turn left or right. But if you could get it so that it steers the way you describe, it should be pretty neat. I think that i know a trig equation that could help you out, but i dont know if it would work with the "C" language(im a pbasic kind of guy).