Introducing SwagDrive. The drive code of the future.

[JohnFogarty]

The robnots are already using this I promise.

[Yipyapper]

#suchshot
#sopiston

[JohnFogarty]

#sonasa
#clingcnthldus
#printsohard

[pmangels17]

Add in pneumatic cylinders to the wheels and bumpers, and when the "swag barrier" is broken, have the robot slow down, drop down the back bumper, and lift up the front wheels. Instant thug life rollin'.

[Sparkyshires]

any chance we could get a hold of some c++ up in here?

[dubiousSwain]

forked. may try to port it to c++ if i get really bored

[apalrd]

C:

//Constants
#define SWAG_BARRIER 0.1
#define SWAG_GAIN 1
#define SWAG_MAX 9000
#define SWAG_PERIOD 500

//Local variables
double old_throttle = 0;
double old_wheel = 0;
double diff_throttle = 0;
double diff_wheel = 0;
double out_throttle;
double out_wheel;
int swag_level = 0;
int swag_period = 0;

//SwagDrive
void SwagDrive(double throttle, double wheel, double* left, double* right)
{
    out_throttle = throttle;
    out_wheel = wheel;

    if(0 == swag_period)
    {
        diff_throttle = abs(throttle) + abs(old_throttle);
        diff_wheel = abs(wheel) + abs(old_wheel);
        if(diff_throttle < SWAG_BARRIER)
        {
            out_throttle = (diff_throttle * SWAG_GAIN) + throttle;
        }
        else
        {
            swag_level++;
        }
        if(diff_wheel < SWAG_BARRIER)
        {
            out_wheel = (diff_wheel * SWAG_GAIN) + wheel;
        }
        else
        {
            swag_level++;
        }

        if(swag_level > SWAG_MAX)
        {
            swag_period = SWAG_PERIOD;
            swag_level = 0;
        }
    }
    else
    {
        out_throttle = 0;
        out_wheel = 0;
    }

    //arcade drive
    left = out_throttle + out_wheel;
    right = out_throttle - out_wheel;

    old_throttle = throttle;
    old_wheel = wheel;
}

[dubiousSwain]

Originally Posted by apalrd

C:

//Constants
#define SWAG_BARRIER 0.1
#define SWAG_GAIN 1
#define SWAG_MAX 9000
#define SWAG_PERIOD 500

//Local variables
double old_throttle = 0;
double old_wheel = 0;
double diff_throttle = 0;
double diff_wheel = 0;
double out_throttle;
double out_wheel;
int swag_level = 0;
int swag_period = 0;

//SwagDrive
void SwagDrive(double throttle, double wheel, double* left, double* right)
{
    out_throttle = throttle;
    out_wheel = wheel;

    if(0 == swag_period)
    {
        diff_throttle = abs(throttle) + abs(old_throttle);
        diff_wheel = abs(wheel) + abs(old_wheel);
        if(diff_throttle < SWAG_BARRIER)
        {
            out_throttle = (diff_throttle * SWAG_GAIN) + throttle;
        }
        else
        {
            swag_level++;
        }
        if(diff_wheel < SWAG_BARRIER)
        {
            out_wheel = (diff_wheel * SWAG_GAIN) + wheel;
        }
        else
        {
            swag_level++;
        }

        if(swag_level > SWAG_MAX)
        {
            swag_period = SWAG_PERIOD;
            swag_level = 0;
        }
    }
    else
    {
        out_throttle = 0;
        out_wheel = 0;
    }

    //arcade drive
    left = out_throttle + out_wheel;
    right = out_throttle - out_wheel;

    old_throttle = throttle;
    old_wheel = wheel;
}

thank you

[z_beeblebrox]

I'm going to try this code on a Vex robot and post video!

[rachelholladay]

Originally Posted by Greg McKaskle

One of the CSA's told a story at dinner about a team with a robot that would inexplicably stutter. They search the code looking for parallel updates to motors, bad math, etc.

They ultimately stumbled across a parallel VI stuck in the corner named "Harlem Shake". Not sure who the joke was on, but its one they will remember for awhile.

Greg McKaskle

I'm really hoping someone took a screenshot of that VI. I'd be really interested to see what the VI had and then using it..

Originally Posted by Gregor

Sorry, I don't think anyone will ever come close to this.

I think Frank Merrick would be able come close / surpass.

[JohnFogarty]

I heard that the next robot controller can be programmed with lolcode.

[FrankJ]

It doesn't. We tried it & our robot went straighter. It apparently counteracted our mechanum's natural squirrellyness. It did turn it into a pretty good pusher though.

[saikiranra]

We modified the code today to provide us with more #YOLO strength. We will be testing this on Thursday, and will hopefully film our results.

[Woolly]

I want swagswerve

[themccannman]

Originally Posted by Woolly

I want swagswerve

Whoa, dude that's gonna be way to much swag.