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Originally Posted by Alex357
We have an early code for the three degrees of motion. However, being able to use it is a completely different question. It's not so much a code issue as it is a driver issue. We would have to use a "flight stick" and training a driver to control a truly omni-directional robot would take time. We are definately planning on doing demos with it, but i'm pretty sure it won't show up in this year's competition. Maybe you'll see it at a post-season event.  |
The method I have thought about using is having on regular 2 axis joystick for controlling the translation (robot moves in direction of joystick and at a speed relative to the magnitude of the distance from the stick from its "home position"). Then, you can the x axis on another joystick to control turning. So now you are able to control the robot in 3 ways. You can use the one stick to translate and then turn, you can drive in a "wheel and throttle" method, using the Y axis on the translate stick to control speed and the turn stick to control turns, like normal tank drive.
Or...
You can incorporate a gyro into your control algorithm, and keep the translate stick absolute to the field. This means if you push the stick forward you will move away from your drivers station at 0 degrees, no matter which way the robot is facing. This could help in controlling the "3rd dimension of motion"
Wow.. I need to play around with one of these drive bases.
