View Single Post
  #26   Spotlight this post!  
Unread 13-10-2005, 16:44
greencactus3 greencactus3 is offline
occra 23.
AKA: ryo
None #1481
Team Role: Alumni
 
Join Date: Feb 2004
Rookie Year: 2006
Location: North Farmington, MI
Posts: 1,523
greencactus3 is a name known to allgreencactus3 is a name known to allgreencactus3 is a name known to allgreencactus3 is a name known to allgreencactus3 is a name known to allgreencactus3 is a name known to all
Send a message via AIM to greencactus3 Send a message via MSN to greencactus3
Re: Holomonic Drive mathmatics discussion

we have never built a omnidriven robot but if our team ever was to do that. i would just make the controls easy to operate. as in. um. think of four 1axis joysticks. for lack of a better word... as in like a throttle joystick. have them mounted to a board in a shape like

...../......\

.....\....../


basically like your omniwheels are mounted on your robot (assuming your robot is 45 degrees 4 omni robot)..
then have a relatively flexible plate connect the tops of each stick. then have another solid stick go up vertically from that plate. this is the stick the driver would be holding to drive.
so the concept is that the robot goes forwards when you press the stick forwards because each joystick would move towards the front.... hmm... i should label the sticks to make it easier to explain.

.........+...+
....A.../.....\...B
.......-........-

.......+........+
....C..\...../...D
.......-.....-

so when the stick which is connected to the plate goes forwards, ABCD all go in the + direction. so all motors go in the forwards direction.
and when you pull backwards everything goes in the - direction so it moves backwards.
and move the stick left, and A goes to -, B goes to +, C goes to +, D goes to -, and the robot goes left. same with going right.
now when you twist the stick to the clockwise direction,, you get A+,B-,C+,D-, and the whole robot rotates in the clockwise direction.

and if you havent noticed yet, the joysticks nad the plate should be binding every time you move the top plate.. which is why you need a flexible plate.... or a flexible connectors from the sticks to the plate.maybe rubber tubing?
but well its a concept. which i think is a lot easioer to make work than these crazy programming things i dont understand lol.
i hope you understood all that blabble,


-edit-
i should probably mention that each stick A,B,C,D is each controlling a victorin the common sense. + in one direction, - in the other, in between is no current.

Last edited by greencactus3 : 13-10-2005 at 16:46.