Quote:
Originally posted by Wetzel
Nice. Just the one joystick? Or am I confused after looking at to many control systems today...
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I hope I'm not giving away any trade secrets, but I doubt it since many teams have developed their own crab / swerve drive.
The driver uses 2 joysticks. The right stick is a cross between a standard 1 stick robot drive and a car - forward moves the bot forward, back moves it backwards, right turns the front wheels right and the back wheels left, and left does the opposite. The left stick controls crab - move it left and all four wheels turn left, move it right and all four wheels turn right. Each crab motor has a feedback loop so when the driver moves the crab stick 1/2 way to the left, the wheels turn 45 degrees left and stop.
It's a lot easier to control than you may think. After an 30 mins, anyone used to driving a standard single stick drive would be fairly comfortable on it. Mastering the drive is another story, that takes time.
Mike