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Unread 25-02-2009, 16:16
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Jared Russell Jared Russell is offline
Taking a year (mostly) off
FRC #0254 (The Cheesy Poofs), FRC #0341 (Miss Daisy)
Team Role: Engineer
 
Join Date: Nov 2002
Rookie Year: 2001
Location: San Francisco, CA
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Re: Implementing Traction Control for an advantage in the 2009 game

Quote:
Originally Posted by Doug Leppard View Post
We have ATC using an encoder wheel on the floor. We found you can have 50% slippage and still have good traction. found 20% is best slippage for maxiumu speed and traction.
I also discovered this. It was sort of disappointing. I applied postgraduate-level dynamics and control theory to create a mathematically nearly-optimal traction control system, then found that just low-pass filtering the inputs and outputs of my velocity control PID loop gave almost identical functional performance.

If anyone ever needs to kill a fly with a flamethrower - you know where to find me!