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Originally Posted by probizzle
One quick comment that I would have is to also make a back-up drive system, which drives whatso-ever direction from the point of view of the robot. Your drivers I hope played enough video games to get this figured out (easily).
Just in case....
(and because your drivers actually might like this better, and because your absolute positioning system is going to drift, and it will be a hassle for drivers to figure out when to reset. etc.)
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By using the driver's reference frame instead of the robots (move the joystick forward and the robot drives away from you, no matter which direction its facing) allows you to translate AND rotate at the same time. The other holonomic implementations don't allow you to have this "frisbee" motion. All you need is a pot or a set of buttons to adjust the robot's perceived heading if it drifts. It has the added bonus of making it easier to use the gyro as feedback to cancel unwanted rotation.