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Unread 10-05-2011, 16:21
EthanMiller EthanMiller is offline
Lead Programmer
AKA: Socks
FTC #4356 (The Zip Ties)
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Join Date: Jan 2010
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Re: Offseason Project: Holonomic Kiwi Drive Robot

Okay, got RobotC back and working. Thanks for all the help so far - it's really appreciated. So far, we've got translation and rotation working mostly... It's that mostly I'm worried about.

When I try to have the robot go sideways (Namely, JoyX=-128, JoyY=0), it sort of drives along an arc with a central point about 10 feet in front of the robot, as if the back wheel were going too fast. I can post code tomorrow; I don't have it with me now. I tried scaling the back wheel, but that didn't help.

This is without encoder feedback - once I get that figured out, I might use the constant speed feature to do the math into encoder ticks to do the trick - That would use PID, right?
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FTC 4356 The Zip Ties 2010-2011 Season - NNYRC (2010 9th seed).
 


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