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Unread 08-05-2012, 16:48
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Re: paper: Killer Bees BuzzXVII 2012 Code

Quote:
Originally Posted by kenavt View Post
A comment on Palardy's implementation with Cheesy Drive and Halo Drive:

Halfway through competition season (I believe after week 4), Palardy graciously gave us these VIs, and we implemented them almost verbatim (we added our own ramping software at the inputs). I won't comment for our driver, but when I used it occasionally at home, it was better than tank (my previous favorite). It seemed more natural for locating the robot precisely where you wanted it, and at the orientation you wanted it.

Thank you very much Palardy!
Love the quote under your name. I understand they're making an Ender's Game movie.

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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Unread 08-05-2012, 22:16
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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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Unread 08-05-2012, 23:00
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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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Unread 09-05-2012, 07:51
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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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Unread 26-05-2012, 12:23
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Re: paper: Killer Bees BuzzXVII 2012 Code

Quote:
Originally Posted by apalrd View Post
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.
I don't have Labview. What does the logic for activating quick turn look like?
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Unread 26-05-2012, 14:10
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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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