Go to Post A FIRST fanatic who never had any desire to be an engineer. There. I said it. ;) - Katie Reynolds [more]
Home
Go Back   Chief Delphi > Technical > Programming > Java
CD-Media   CD-Spy  
portal register members calendar search Today's Posts Mark Forums Read FAQ rules

 
Reply
Thread Tools Rate Thread Display Modes
  #1   Spotlight this post!  
Unread 17-02-2013, 02:48
r0306 r0306 is offline
Registered User
AKA: Robert Lu
FRC #0253 (MRT)
Team Role: Programmer
 
Join Date: Jan 2013
Rookie Year: 2010
Location: California
Posts: 13
r0306 is an unknown quantity at this point
Programming Drive with a 4 Motor, 2 Wheel Setup

We've decided to move double up the power to the back wheels by moving front motors to the back and leaving the front with free-spinning low friction wheels, as shown in the picture below. However, I am unsure as how I should program the drive code as we were using the default drive constructor:

Code:
RobotDrive drive = new RobotDrive(FRONT_LEFT, REAR_LEFT, FRONT_RIGHT, REAR_RIGHT);
Now that the two front motors are relocated, should I reverse the channels so that they turn the same direction like this:

Code:
 RobotDrive drive = new RobotDrive(FRONT_RIGHT, REAR_LEFT, FRONT_RIGHT, REAR_LEFT);
__________________
Scrambled Eggs for the children
Reply With Quote
  #2   Spotlight this post!  
Unread 17-02-2013, 09:30
eddie12390's Avatar
eddie12390 eddie12390 is offline
Registered User
AKA: Eddie
FRC #3260 (SHARP)
Team Role: Programmer
 
Join Date: Jan 2011
Rookie Year: 2011
Location: Pittsburgh
Posts: 285
eddie12390 is a glorious beacon of lighteddie12390 is a glorious beacon of lighteddie12390 is a glorious beacon of lighteddie12390 is a glorious beacon of lighteddie12390 is a glorious beacon of light
Re: Programming Drive with a 4 Motor, 2 Wheel Setup

Quote:
Originally Posted by r0306 View Post
We've decided to move double up the power to the back wheels by moving front motors to the back and leaving the front with free-spinning low friction wheels, as shown in the picture below. However, I am unsure as how I should program the drive code as we were using the default drive constructor:

Code:
RobotDrive drive = new RobotDrive(FRONT_LEFT, REAR_LEFT, FRONT_RIGHT, REAR_RIGHT);
Now that the two front motors are relocated, should I reverse the channels so that they turn the same direction like this:

Code:
 RobotDrive drive = new RobotDrive(FRONT_RIGHT, REAR_LEFT, FRONT_RIGHT, REAR_LEFT);
I'm not sure that you need to make any change at all, depending on the build of the gearbox the motors should still spin the same direction that they did previously. If you try to run anything like Mecanum strafing it won't work but the normal drive code (Tank/Arcade) should be just fine.
__________________
Any post that I make expresses only my opinions. I do not represent the opinions of my team or of any entity affiliated with my team.

As a Mentor:
2016 - Engineering Inspiration at Greater Pittsburgh Regional

As a Driver:
2014 - Winner of Greater Pittsburgh Regional
Reply With Quote
  #3   Spotlight this post!  
Unread 17-02-2013, 18:25
Ether's Avatar
Ether Ether is offline
systems engineer (retired)
no team
 
Join Date: Nov 2009
Rookie Year: 1969
Location: US
Posts: 8,102
Ether has a reputation beyond reputeEther has a reputation beyond reputeEther has a reputation beyond reputeEther has a reputation beyond reputeEther has a reputation beyond reputeEther has a reputation beyond reputeEther has a reputation beyond reputeEther has a reputation beyond reputeEther has a reputation beyond reputeEther has a reputation beyond reputeEther has a reputation beyond repute
Re: Programming Drive with a 4 Motor, 2 Wheel Setup

Quote:
Originally Posted by r0306 View Post
We've decided to move double up the power to the back wheels by moving front motors to the back and leaving the front with free-spinning low friction wheels
If you are doing this to solve the turning problem discussed here, I doubt it will work. For your sake, I hope I'm wrong.

Please let us know.


Reply With Quote
  #4   Spotlight this post!  
Unread 18-02-2013, 00:28
r0306 r0306 is offline
Registered User
AKA: Robert Lu
FRC #0253 (MRT)
Team Role: Programmer
 
Join Date: Jan 2013
Rookie Year: 2010
Location: California
Posts: 13
r0306 is an unknown quantity at this point
Re: Programming Drive with a 4 Motor, 2 Wheel Setup

Actually, we managed to resolve the turning issue by doing this. We tested it today and it works. Although it's still hard to turn sometimes, it is an obvious improvement to the 4 high traction design.
__________________
Scrambled Eggs for the children
Reply With Quote
  #5   Spotlight this post!  
Unread 18-02-2013, 00:31
Ether's Avatar
Ether Ether is offline
systems engineer (retired)
no team
 
Join Date: Nov 2009
Rookie Year: 1969
Location: US
Posts: 8,102
Ether has a reputation beyond reputeEther has a reputation beyond reputeEther has a reputation beyond reputeEther has a reputation beyond reputeEther has a reputation beyond reputeEther has a reputation beyond reputeEther has a reputation beyond reputeEther has a reputation beyond reputeEther has a reputation beyond reputeEther has a reputation beyond reputeEther has a reputation beyond repute
Re: Programming Drive with a 4 Motor, 2 Wheel Setup

Quote:
Originally Posted by r0306 View Post
We tested it today and it works.
On carpet?


Reply With Quote
  #6   Spotlight this post!  
Unread 20-02-2013, 00:16
r0306 r0306 is offline
Registered User
AKA: Robert Lu
FRC #0253 (MRT)
Team Role: Programmer
 
Join Date: Jan 2013
Rookie Year: 2010
Location: California
Posts: 13
r0306 is an unknown quantity at this point
Re: Programming Drive with a 4 Motor, 2 Wheel Setup

Not so much on carpet as on tiles but it is still turn-able on the playing field.
__________________
Scrambled Eggs for the children
Reply With Quote
Reply


Thread Tools
Display Modes Rate This Thread
Rate This Thread:

Posting Rules
You may not post new threads
You may not post replies
You may not post attachments
You may not edit your posts

vB code is On
Smilies are On
[IMG] code is On
HTML code is Off
Forum Jump


All times are GMT -5. The time now is 12:53.

The Chief Delphi Forums are sponsored by Innovation First International, Inc.


Powered by vBulletin® Version 3.6.4
Copyright ©2000 - 2017, Jelsoft Enterprises Ltd.
Copyright © Chief Delphi