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Unread 23-06-2002, 22:49
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Several Caveat s

Posted by Matt Leese at 1/13/2001 6:34 PM EST


Other on team #73, Tigerbolt, from Edison Technical HS and Alstom & Rochester Institute of Technology.


In Reply to: Re: Single Joystick Tank Steering
Posted by Josh on 1/13/2001 6:14 PM EST:



There are several caveats with the InnovationFIRST supplied program (or at least the one they supplied last year). The way that the robot drives in reverse is non-intuititve. You'd expect that pulling the joystick back and to the left would take the robot in reverse to the left but instead it takes it back and to the right. The same thing happens but in reverse for back and to the right. The solution is to swap the values of the two PWM outputs when the joystick is in reverse (I'll leave the actual implementation as an excercise to the reader). The other thing is that there's a real need for a dead zone in the middle of the joystick because otherwise the motors will switch directions quickly and jerkly (a Bad Thing). Those are the two biggest problems with the supplied code. At some point I really should get around to posting a better set of one-joystick drive code.

Matt who's done robot controls for what he finds to be too many years......
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