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Unread 21-12-2010, 21:06
Dillon Carey's Avatar
Dillon Carey Dillon Carey is offline
6wd swerve, it has been done
AKA: TinyHippo
FRC #1625 (Winnovation)
Team Role: Alumni
 
Join Date: Jun 2008
Rookie Year: 2007
Location: Winnebago IL
Posts: 93
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Re: Holonomic + gyro/PID

Quote:
Originally Posted by Ether View Post
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?


Yes. The wheels would turn 180 degrees.

We did however have another mode that turned the wheels 90 degrees from forward and used only the x values from the joystick to determine drive direction.

This mode was made for the sole purpose of playing defense on 469. It would allow us to strafe back and forth as quickly as possible while keeping our accumulator pointed toward our side of the field.

Although it was developed for only that, it ended up being used more often than the "normal" swerve code.
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