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GregT - you need to go back and look at the Team 578...physics lesson photo again.
yes we slowed the turning part of our V-turn down enough to stay closed looped with the gyro
and we beat you to the wall
anytime you use feedback you must run 'slower' than the systems top speed - otherwise you have no room / margin for making corrections.
We could have made our auton mode even faster if we wanted to. We had the bot going back to the center of the field before making its 45° turn - and we also had the motors running at less than half speed while going backwards AND while turning.
We didnt have a full sized ramp to practice on, and we couldnt get enough carpet time at the events to adjust it any finer. If we had added a wheel revolution counter then we could have backed up until we barely cleared the ramp side wall, then turned just enough to start going forwards, continuing to turn as we climbed the ramp.
Feedback is like magic in engineering. You can take a sloppy, loose system and make it as fast, accurate and precise as you want by using feedback. MUCH easier to do than to try to build a system (bot) that is accurate and precise all by itself and let it run blind (open loop).
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