Quote:
Originally Posted by marccenter
Doug,
In order of implementing a traction control algorithm I have proposed for a FRC conference presentation paper with VEX and Easy-C Pro implementation: 1) rate-limiting joystick command input to motor command output - solves a multitude of problems, 2) control maximum motor speed command as a function of undriven wheel speed (non-feedback based slip control) Joystick position can be independent of the maximum motor speed command but you have indicated that you did
add joystick dependence. Can you indicate why? 3) feedback based slip control (driven wheel speed based to undriven
wheel speed)
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Not sure if I follow what you have asked, so I may not be answering your question. Case below is when the robot is moving.
On the joystick. It would seek the power setting of the joystick. If the joystick was at 3/4 power then the power would increase (or decrease) to 3/4 power but without slipping more than 20%. So if the driver moves the power from 0 to 3/4 power then it will keep increase power until it reaches 3/4 power, but it will be much less power to the wheels until it reaches that power.
If you are going at 3/4 forward power and shove the robot into reverse, it will decrease power without more than 20% slippage so it will not go into full skid.
I hope this makes sense.