Quote:
Originally Posted by Tom Line
Field centric is something I want to work toward, but first I want to firmly define in my mind what our end objectives for maneuvering should be.
We are going to go 4 modules, in 2 pairs. My thought is similar to a post from wild stangs: when the wheels are within 30 degrees of making the robot a wide configuration robot, the rotational joystick will simply modify the wheel speed and the robot will tank turn.
Once the robot is diagonal to the direction of translation, you can no longer rotate. This is because wheels at the left and right corners will oppose eachother. Again: I'm looking at the situation where you have left and right side coupled modules.
See attached picture and tell me if my thinking is correct or there is some shortcut to work around the directions that you cannot rotate.
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Actually, on the right, the robot could still theoretically turn a little, the sidescrub of the wheels may sway otherwise. If both sets were powered opposite, a moment would be created around center.
The nice thing about the control software in this scenario is, if you tell it to turn 5 degrees, it'll turn 5 degrees no matter how difficult it may be for a human to do so (I know I don't have to tell you that, but figured it was worth mentioning).