Quote:
Originally Posted by Doug Leppard
I would be interested in what you guys did for your omni-wheel encoders, I had thought of playing with that.
We used drive wheel encoders and a gyro. It would constantly be calculating our x/y position on the field using trig. Then we used a way point routines to tell the bot to go to a new x/y so we could quickly change where we would want the bot to do also if the bot got hit it could adjust.
It worked well but I feel we had too much gyro problems and too much slippage of the wheels the encoders were connected to. So a different way to track position would be great.
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If you look at the picture David Brinza put in the thread earlier you can get a good idea of our setup. Basically there were two omniwheels connected by a shaft that was attached to one encoder. This was used as to determine distance of forward motion. In the back of that is one omniwheel perpendicular to the other two, and attached directly to a encoder. This was to give us info on how far over we moved. If we moved diagonally it would register both distances to give us our position (10 feet forward and 5 feet to the right). The biggest problem we had was mounting it, however this would have been easier if we haden't been a flopbot.