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#1
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Re: paper: Killer Bees BuzzXVII 2012 Code
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Anyway, regarding the drivetrain, that's good to hear. I think I'll go through tonight and take a closer look and try it on ours. We really don't have any trouble with just straight unfiltered tank drive (wide bot tank drives almost drive themselves if done right) but it'll be a good learning experience. |
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#2
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Re: paper: Killer Bees BuzzXVII 2012 Code
Cheesy drive is wonderful. (We've used it the past two years.) Especially in high gear, it blows traditional tank out of the water.
What criteria do you use to switch to quickturn? Do you smooth the transition? (I'm not at a LabVIEW capable computer at the moment, but the next time I am I'll take a look.) |
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#3
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Re: paper: Killer Bees BuzzXVII 2012 Code
No smooth transition, it's literally just a binary wrapper around a standard CheesyDrive function. The transition happens when abs(throttle) is <0.2 (basically 0).
With the thumb sticks, it's really hard to get a precise throttle that low without hitting the 0.15 low-end deadband, so we don't care about the transition. If you look at the implementation, HaloDrive does the wrapping and quickTurn switch decision, and CheesyDrive does a standard 254-style Cheesy Drive with a quickTurn switch input. You can use either, we like Halo. |
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#4
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Re: paper: Killer Bees BuzzXVII 2012 Code
It is worth mentioning that Palardy was also the driver this year. While it was his first year, he did have experience driving both the 2010 and 2011 robot for a couple of competitions as well as VEX and OCCRA.
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#5
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Re: paper: Killer Bees BuzzXVII 2012 Code
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#6
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Re: paper: Killer Bees BuzzXVII 2012 Code
quickturn = 0;
if ( abs(throttle) < quickturn_thresh) quickturn = 1; quickturn thresh is about 0.2 off the top of my head. |
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