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Unread 16-02-2012, 12:30
Andy A. Andy A. is offline
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Re: TOP HEAVY!!!!

In addition to fixing the core problem, which is a high CG, you can do some software controls to prevent the driver from accelerating too quickly. Ramping up speed changes over a second or two can really help, although make sure your drivers are aware of the impact that might have on balancing. I'm not generally a fan of putting dampeners and filters between the driver and robot, but this is sort of 'free' and can quickly tuned or turned off as needed.

If you have a gyro, you could also use that. If the gyro saw the bot tipping too much, it could either limit any further acceleration or even go in the other direction momentarily. Traversing the bridge or bump would obviously cause some issues with that, so that may just not be practical this year.

Get your CG as low as you can and consider software dampeners to control any remaining issues.
 


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