Quote:
Originally Posted by Andrew Schreiber
I would still claim that it is not as simple and straightforward but it is an interesting solution to the problem. Thank you.
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For robot-centric steering, it is that simple. For field-centric steering (where pushing away on the joystick moves the robot away from the driver's station regardless of robot orientation) it can get quite complex.
Quote:
Originally Posted by Chris is me
I would suggest that a slide drive config that wants at least 1 CIM for something else use 1 CIM + 1 FP in the drivetrain instead of just 1 CIM. Acceleration is helped a pretty good amount.
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Do you mean for the sideways component? If so, that's a good point. A crab-style middle wheel would put 3 CIMs accelerating forward at a maximum, 2 minimum (which is acceptable under 11fps or so). The sideways movement would only ever have 1 CIM maximum, which may be a problem since should have the same speed as the forward-only wheels -- if the forward component is 12fps or more, then the single CIM moving sideways would cause some sluggishness.