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Right...I hadn't remembered that one drive train was running the opposite direction on many robots. Our software last year just ignored that fact, as it did not affect driveability very much. It might matter for autonomous control. Now that I realize your/our problem, there may be better algorithms to deal with it. Actually, you could apply mine, sort of, to one half of each motors range. The way it seems to be is:
----0+++++
+++++0----
The motors extend further in their 'positive' range than their 'negative' range. So, when each motor is in it's 'positive' range, you apply my algorithm with the right replacement for (254-bb_man_pot). But one motor's 'positive' range is between 0 and 127 and the others' is between 127 and 254.
This might make the algorithm simpler because it would only have to deal with a 'positive' or 'negative' value. I'll play around with it and see what I get.
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Adler Attack #933 -- Trigos
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