Thread: Programming
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Unread 23-06-2002, 22:34
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#0047 (ChiefDelphi)
  
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Re: Programming
Posted by Mike Gray.

Engineer on team HOT from Huron Valley Schools sponsored by GM Milford Proving Ground.

Posted on 3/28/2000 9:47 AM MST


In Reply to: Programming posted by Fraser Allan on 3/27/2000 8:45 PM MST:



Fraser,

Filtering the joystick variables will help machine performance, especially when things get a bit tense on the field. Its best to use a low-pass filter that emulates nature (exponential decay). This is much more intuitive to the driver than using a linear ramp.

Check the White Papers at www.innovationfirst.com for low-pass filter code and a simple method of creating a joystick deadband. Adjust the filter coefficients impirically rather than trying to determine the system Tau. For a 130 pound machine, start with 140. (coefficient .7). A smaller number will make the robot respond more slowly. The coefficient must never exceed 200....unless you thrive on crisis.






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