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#1
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Andy mark mechanum problem
So my team is having some issues with the Andy Mark 6" mechanums. They are in the correct orientation (X from the top) and they spin in the correct direction when they are on jacks, but they refuse to strafe side to side. Instead they follow a diagonal curving path. (Forward and to the left for a left strafe and backward and to the right for a right strafe).
Things we have tries: Calibrating the Jags Testing the output voltage on jags attaching extra batteries to try different weight distributions (but i'm not sure the weight distribution is not the problem) the rollers seem to roll fine one of the mechanums wobbles when it runs and another is at a slight angle in relation to the frame (<10 degrees off) Has anyone experienced this problem before? Thanks -baronep |
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#2
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Re: Andy mark mechanum problem
When the robot sits on a level surface, are all the wheels equally touching the ground? Could the frame be twisted?
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#3
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Re: Andy mark mechanum problem
If the frame isn't warped then maybe its a problem with the gearboxes not being broken in properly... I can't think of anything else since you say that the wheels spin the correct directions. The last and final thing you might want to try is switching joysticks. However, the most likely cause is an imbalance of force being transmitted to the surface since the mecanums operate on the principal of vectors
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#4
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Re: Andy mark mechanum problem
if you are running on a flat frame, or a out of square frame--I expect you are experiencing a torquing issue with the frame when power is applied causing frame warpage not visible to the eye but causing all wheels to not contact the the floor evenly--have seen this.
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#5
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Re: Andy mark mechanum problem
Also, make sure that your rollers have some same level of movement. Some may be tighter than others. This might cause some of the problems you describe.
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#6
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Re: Andy mark mechanum problem
cims gain a bias in one direction after a year or two of use, if your cims are 2 years old i have found 12-15% difference between forward and backward, if you cannot get new cims, you might have to account for them not being the same forward and backward.
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#7
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Re: Andy mark mechanum problem
We have found the Jags are biased in one direction. Reverse the polarity of the motor leads not the power leads on the Jag and account for it in the code.
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#8
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Re: Andy mark mechanum problem
This isn't true - and if it is, calibrating them would have fixed that.
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#9
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Re: Andy mark mechanum problem
the cims are bias, the jags are perfect, the rotor in the cims magnetizes the more you use them, so if you have old cims, the don't spin with as much power in one direction.
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#10
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Re: Andy mark mechanum problem
Quote:
Another option, when i drove mecanum last year, I first thought that I was pushing straight sideways on the joystick, but was not. This could be it aswell. |
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#11
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Re: Andy mark mechanum problem
Quote:
http://www.chiefdelphi.com/media/photos/30031 http://www.teamtitanium.org/media/20.../target26.html http://www.teamtitanium.org/media/20.../target28.html PS. It was the fastest robot we've ever built. |
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#12
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Re: Andy mark mechanum problem
Are team is using it this year.
Some keys that we have found: -Evenly distribute weight -Make sure the code supports straffing -Make sure everthing is fastened properly (the wobble could be binding when trying to strafe.) This and a number of minor tweaks that can be pretty self-intuitive should get you back on track. |
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