Thread: How are you implementing traction control?
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Unread 20-01-2009, 01:29
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AKA: Jason Brett
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Re: How are you implementing traction control?
There was no mention of just using the encoders to limit accelleration. Since the robot (plus trailer) should be friction limited to an accelleration of 0.5 m/s2 then you just need to make sure the wheels never pick up speed any faster than that.

Interestingly, after we worked this through with the programming team tonight, I took the opportunity to throw some basic kinematics at them.

The time to cross the playing surface at maximum specified (.06 static) coefficient of friction should be (assuming a 54 foot playing field minus robot, trailer and bumper... total length for acelleration should be about 15m) should be about 7.75 seconds, with a peak velocity of just under 4 m/s. Which is about 12 fps, which is considered fairly speedy for an FRC robot.

But then you hit the driver station bumper and stop.

Jason