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Unread 21-08-2010, 22:19
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FRC #1756 (Argos)
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Re: User Interface - Drivetrain Controls

Ether-
Since our team doesn't have much as far as an off-season program, I can't get very specific. We basically used the LabView holonomic drive. We added in a PID control which used gyro readings to keep the robot facing the same direction. The PID adjusted robot rotation to compensate for the unwanted rotation. For some reason, no matter how much we tuned the PID, the robot rotated when driving at angles other than 0, 90, 180, or 270. This year, depending on the game, we may try to build off this system so it can work at other angles. We spent a lot of time this year learning LabView (none of us had used it) and dissecting SubVI's to see how they functioned, so we ran out of time to work out all the bugs.