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Unread 30-07-2013, 18:24
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AKA: James Killian
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Re: paper: FRC #33 The Killer Bees 2013 Software - BuzzXVIII (Buzz18)

Quote:
Originally Posted by apalrd View Post
There's still more optimization we can do. I like the interp curve function because I can plugin a set of points and map the curve as I want, however nonlinear or strange it is, without finding a mathematical way to represent it, and it's not that inefficient for relatively small tables.


I have made a graphical representation of 3 different setups that try to illustrated the distribution. The one on the right is halo drive with just x and no y, and the top left is the culver theta * r where r is just magnitude with no scale. The bottom left is the blend of 0.875 to (1/(pi/2)=.64ish).

The green tries to highlight the smaller numbers and how they are spread out. The spread of numbers between the 1.0 magnitude and the halo are virtually identical for the precision workflow (i.e. when using the max y stick up)... This means the actual benefit of precision (using 1.0) is a mechanical solution and could be accomplished using the halo drive. It does however have brighter red and blue intensity on the sides this is because when you get there your range will exceed past 1.0 to 1.57 (half a pi). The bottom one will keep the range 0-1 intact for halo while spreading out the centered area for Culver. This makes it both mechanical and functional benefit of precision. This suggestion makes the Y component a bit more interesting in that when Y is centered... it is identical distribution as the halo graph (therefore a perfect fit for anyone's driving system), and then when Y is used for Culver steering... the x distribution is greater for precise turning and then curves down quick to meet up with 1.0 at the end. I hope this makes sense... I can see a work flow solution to use halo drive for quick turns and culver drive for precise turns without need of a button. Quick turns in this context are in terms of what the x axis submits to another function... this means it is possible to use this for some other kind of control (e.g. arm) when it is broken down to just this functionality.

I'll save the actual drive implementation for a separate post.
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