Quote:
Originally Posted by Dillon Carey
In you example of "direction theta+180" we did not reverse the drive motors. we decided against trying to make the drive motors reverse because we didn't want robot to move inconsistently if the driver told the modules to turn faster than they could. We made up for this by gearing the turning motors as fast as we could, although it didn't fix the problem entirely. If we were to do a swerve again we would consider either adding more motors, or using more powerful motors, and gearing up the turning speed even higher.
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Thanks Dillon. I need to ask a question to make sure I am properly understanding what you said. Consider this scenario:
- robot is slowly moving straight forward
- driver pulls joystick straight back (because he wants robot to stop and back up)
In the above scenario, are you saying your logic would not just reverse the motors to back up, but rather would turn the wheels 180 degrees?