Thread: Drive Trains
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Unread 01-04-2008, 23:59
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Teaching Teachers to Teach Tech
AKA: Jason Brett
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Re: Drive Trains

Quote:
Originally Posted by BigJ View Post
Also, have the programmers work with the drivers to make the controls more comfortable. The programmers can make the controls more or less sensitive (depending on how they are already).
This is an important comment that should not be lost amongst all the other valuable tips on the mechanical aspects of the drivetrain. The human-robot interface can make a good driver great.

Although we have used the "default" KOP joysticks and mixing code in the past, this year we knew we would have to have a much higher-performance drive system than in previous years.

We put a gyro on the robot and used it to make sure that the robot went straight when it was told to. Then our programmer re-mapped the turning axis to provide exponential response (very little near the "centre" but full-bore near the extreme edges). Finally we invested in a USB dongle from IFI, and hooked up a logitech game controller. Now the driver controls forwards and backwards with one thumb and left-right with the other. This is an advance over a single stick, as there is no chance of telling the robot to turn when you want it to go straight.

Most of this was accomplished using an older robot in the first two weeks of build, while the new drive train was being built.

Strangely, we found our new drive train performed well, and were really pleased with our driving.... even though mechanically we have almost the simplest drive train possible (modified KOP frame, four CIMS, two toughboxes, driving two IFI traction wheels at the front with two AM omnis free-wheeling at the back.)

People always tend to think of the programmers when they see a great auto/hybrid mode... but behind every great driver is some great drive code.

Jason