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Posted by James.

Coach on team #21, ComBBAT, from Brevard Community College and Boeing.

Posted on 11/8/2000 12:45 PM MST


In Reply to: 4x4 software differential posted by James on 11/4/2000 1:27 PM MST:



: I am trying to come up with a single joystick operated 4x4 base that the front wheels are steerable. I have tried tank style single joysitck and doesn't work well. So I need software 'differential.' Both motors going in the same direction, but at different speeds while turning proportional to the radius of the turn. The tighter the turn, the slower(to a point) the inside motor spins. Any thoughts?
: James Rallo

I have figured out a simple little program that does what I needed. Thanks to all. Here it is:
**note: untested in the real world, only tested on computer**
Pwm1 is the right motor
Pwm2 is the left motor
Pwm3 is the steering motor(if using a speed controler)
relay1 is the steering motor (if using a spike)

'---------4x4 differential----------------------------------------------------
If p1_y=127 then notmoving:


adjustrightspeed
If p1_x>138 then adjustright: goto dontadjustright

adjustright
pwm1=(p1_y-(p1_x/19)) min 0 max 254 :goto adjustleftspeed 'adjust the speed of the left wheel

dontadjustright
pwm1=p1_y

adjustleftspeed
If p1_xp1_x then subtract:
If sensor1