Kiwi drive in LabView and Java

[billbo911]

We are already looking into off season projects.

I already looked at the Holonomic Drive VI's in LabView and found that they do not support Kiwi drive. Because of that, I crafted a simple VI to do the math. I've attached it if you would like to give it a look and provide feedback.

I would like to compare notes with other teams that have successfully implemented Kiwi drive in LabView and Java. We will be using both in the off season and would love to see examples of functional code that already exists and has been made available. Even just a push in the right direction would help.

Any pointers as to where to look?

[jojoguy10]

Looks interesting for sure! I would look over at this post on Stack Exchange. It looks like someone has worked out the math: http://stackoverflow.com/questions/3...wi-drive-robot

P.S. Our team has never used Kiwi before.

[Ether]

Originally Posted by billbo911

...would love to see examples of functional code that already exists and has been made available. Even just a push in the right direction would help.

Any pointers as to where to look?

Maybe there's something in here that would help:

http://www.chiefdelphi.com/media/papers/download/3102

[billbo911]

Originally Posted by jojoguy10

Looks interesting for sure! I would look over at this post on Stack Exchange. It looks like someone has worked out the math: http://stackoverflow.com/questions/3...wi-drive-robot

P.S. Our team has never used Kiwi before.

Thanks!
That is the exact page that I used to actually make the LabView VI I attached. It matches the code provided by others here on CD as well.

Originally Posted by Ether

Maybe there's something in here that would help:

http://www.chiefdelphi.com/media/papers/download/3102

Thanks Ether, that Inverse Kinematics will be a great help in teaching this process to my students. I guess I had forgotten to search the White Papers for more information on the subject.

Once Spring Break is over, I am hoping to validate my code.
In the mean time, I plan on using my little Vex bot. It works now, but I will be adding a Gyro to it in the next couple of days to help make it even more stable. Currently everything runs in open loop, so you can imagine there might be a few instabilities.

[billbo911]

Here is what I have working thus far.
Gyro stabilized for strafing and driving. Rotation is used to set a new heading, then hold that heading once the desired rotation is achieved.

https://www.youtube.com/watch?v=3yXlmJyL7pE

[Chris_Elston]

Our kiwi labview source code from 2010 can be downloaded here:

http://www.frcsoft.com/forums/index....ads&showcat=29

We also uploaded a white paper based on what the labview code is doing. We used a gyro for rotation stabilization as well.

Here is a video of the robot in action:
https://www.youtube.com/watch?v=_VZOaZsTuTQ

[billbo911]

Originally Posted by Chris_Elston

Our kiwi labview source code from 2010 can be downloaded here:

http://www.frcsoft.com/forums/index....ads&showcat=29

We also uploaded a white paper based on what the labview code is doing. We used a gyro for rotation stabilization as well.

Here is a video of the robot in action:
https://www.youtube.com/watch?v=_VZOaZsTuTQ

Thanks Chris!

From the video, it looks like it worked well for you.

The code, though you tool a different approach than we might have, looks quite nice. I'm sure we can learn from it.