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Originally Posted by artdutra04
Robot-centric. I didn't have any gyros or accelerometers around, so there was no way for me to program absolute (driver-centric) control. That, and at the time I programmed it in EasyC, and I was unsure if sine, cosine, and tangent functions existed. Either way, most people who I let drive that robot found even relative (robot-centric) driving very easy to drive.
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Just curious how you got it to move in a straight line and spin at the same time then, as with a robot centric system, while spinning and translating, it begins to arc. For instance, if it spins clockwise while translating forwards, the "front" of the robot would move clockwise, causing a clockwise arc of motion (and eventually a circle that the robot moves clockwise along the perimeter).