paper: Killer Bees BuzzXVI Code and Auto Scripting

[tr6scott]

Originally Posted by apalrd

Are you looking through the drive-straight autonomous functions?
Those are quite complicated.

Yes, but that is where the Magic happens! (and it's a lot less complicated when you know it works.)

Originally Posted by apalrd

-We apply it using the arc drive code which proportionally applies the term based on the output forward speed (which is in ft/sec)

Ok, I get it now, you have to tune the gyro gain to work a full throttle. Then you scale gyro P(id) contribution to the output bases on the speed you are actually moving at.

Originally Posted by apalrd

Clarification on wheel:
-We've been looking at various HMI's, and in many arcade and halo drives, a throttle stick and steering wheel are traditionally used, leading us to refer to inputs to an arcade drive as 'throttle' and 'wheel', even in the absence of an actual steering wheel

Makes perfect sense, I tripped up thinking wheel was a robot wheel, not a steering wheel. I have only seen tank drives, makes sense as an arcade drive.

What was the value of the gyro p gain you used? When we tuned the gain for the rotation we ended up at .006 but our algorithm we added minimum constant, which was the threshold minimum motor value that it took to move the bot. I saw how you solved this just by telling the bot to go farther than it needed to, with the addition of the "overshoot" distance. Nice simple solution.

In our turn to heading, we are exiting the loop when the error has settled for a second, at less than .5 degrees. This allowed the bot to overshoot and correct, at the end of the video you can see it jiggle a bit, that is it correcting for the overshoot.