What is your favorite holonomic control setup?

[JamesCH95]

Bonus points for a() link(s) to the controller that you like to use.

It has always struck me as silly that we (95) control robots that we've spent thousands of dollars on with $20 joysticks/game pads. I am not scared to spend a few bucks on a good controller!

[Cecil]

In 2011, we used one of these to control our holonomic robot. The left stick controlled front/back and side/side translation. The rear LT and RT buttons controlled rotation of the robot. Instead of a field-centric code, the programmers mapped the right stick to be opposite of the left one for when the robot was facing the drivers. The buttons on the right were then mapped to a few functions of the robot using a simple button latch code.

Last year, the drivers decided to forego the gamepad and just used one of the Logitech kit joysticks. The rotation was mapped to two of the buttons on top.

We have only used holonomic these two years, and we typically leave it to the driver's preference on how it's driven.

[cjl2625]

For our swerve, there's one Logitech attack 3 controller for translation, and one Logitech extreme 3d for rotation. On the extreme 3d, the Z axis is for rotation. The X and Y axes on it currently change the rotation point of the swerve.

[Ether]

This DI is a lot of fun to drive. If you've got a 3DoF drivetrain and haven't tried it yet, check it out:

field-centric Halo with auto-rotate

It needn't be your only control mode. Just press a button and revert to standard 3DoF control.

[JamesCH95]

Thanks for the input guys.

I ordered two of these joysticks: http://www.amazon.com/gp/product/B00...TVPDKIKX 0DER

It was the best stick I could find that still had a twist axis.

And we have a pile of Xbox 360 and Logitech controllers, so we'll see what our drivers like best.

[TheJoe]

One of our programming mentors lent our Team his personal Playstation 4 controllers for use last year.

They worked really well from a driver's standpoint

[IronicDeadBird]

I have been eyeing the Saitek Cyborg 5 or Mad cat version one flight stick for the pc. Both have rudder action which is to say the joystick twists which would be my ideal for a swerve or mecanum. Ill edit the links in but the mobile app for delphi is weird

[pwnageNick]

Originally Posted by JamesCH95

Thanks for the input guys.

I ordered two of these joysticks: http://www.amazon.com/gp/product/B00...TVPDKIKX 0DER

It was the best stick I could find that still had a twist axis.

And we have a pile of Xbox 360 and Logitech controllers, so we'll see what our drivers like best.

I believe we have used these in the past. I thought they worked well and liked all of the buttons that were available. The slide on the front is also handy; in the past we would set the slides to different positions to determine what autonomous routine would run for that match.

[JamesCH95]

Originally Posted by pwnageNick

I believe we have used these in the past. I thought they worked well and liked all of the buttons that were available. The slide on the front is also handy; in the past we would set the slides to different positions to determine what autonomous routine would run for that match.

Brilliant!

[GeeTwo]

Last year, we used the xbox controller, with the joystick for translation and the triggers for rotation. We never did get field centric-coordinates working last year; we figured out post-season that we had a bad gyro. I would definitely like to try a 3-d joystick, using twist to spin; it seems most intuitive.

[Poseidon5817]

I liked using an Xbox controller with forward and backward movement on the triggers and rotation on the left stick's x-axis like driving a car in Grand Theft Auto.

[Saberbot]

We are planning to experiment with an RC multicopter style control layout for mecanum. For the initial testing we will be using my FRsky Taranis which supports a USB joystick mode natively. The right stick will control translation, the left x axis will control yaw (rotation), and the left y-axis will control max speed (throttle) to assist in precise movements.

We hope that the larger throw distance of the sticks on the RC transmitter will allow for more precise movement than the typical logitech gamepads.

[Ether]

Originally Posted by Saberbot

and the left y-axis will control max speed (throttle) to assist in precise movements

Instead of limiting motor voltage, have you considered gain-shaping the joystick outputs?

http://www.chiefdelphi.com/media/papers/2421

[JamesCH95]

Originally Posted by Poseidon1671

I liked using an Xbox controller with forward and backward movement on the triggers and rotation on the left stick's x-axis like driving a car in Grand Theft Auto.

What did you use for side-side translation?

Originally Posted by Ether

Instead of limiting motor voltage, have you considered gain-shaping the joystick outputs?

http://www.chiefdelphi.com/media/papers/2421

We have setup out current joystick to use gain shaping (cubic, IIRC) as well as setting up the throttle on the joystick to scale this further down, if more accuracy is desired. Mostly just as an experiment, but it is working nicely.

[IronicDeadBird]

I also told my programmers that if they made a "dj" mecanum controller id try it. That would be four sliders each one controlling one wheel. Not exactly what is being discussed but relevant enough