Quote:
Originally Posted by MichaelBick
We are running a 6wd
|
I think with a skid-steer drivetrain your best bet would be a combination of driving in straight line segments plus rotating-in-place. You'd want to figure out where your center of rotation is and factor that into the calculations.
So for example...
Given:
a) The center of rotation of your robot is located at field coordinates (0,0), and
b) The robot is oriented at an angle A
0 degrees clockwise from the +Y axis of the field coordinate system, where the +Y axis is straight downfield (away from the driver station), and
c) When autonomous starts, you want to drive to field coordinates (X
1,Y
1) and then to (X
2,Y
2), and
d) When you get to (X
2,Y
2) you want to orient the robot to angle A
2
Proceed as follows:
1) When autonomous starts, set the gyro reading to A
0, then
2) Rotate-in-place until the gyro angle equals (180/pi)*atan2(-X
1,-Y
1)+180 degrees, then
3) Drive straight a distance sqrt(X
12+Y
12), then
4) Rotate-in-place until the gyro angle equals (180/pi)*atan2(-(X
2-X
1),-(Y
2-Y
1))+180 degrees, then
5) Drive straight a distance sqrt((X
2-X
1)
2+(Y
2-Y
1)
2), then
6) Rotate-in-place until the gyro angle equals A
2 degrees
If they don't treat Dave nicely, he may just keep his big red ball, and not share with rest of us. - Barry Bonzack [more] 
20-10-2013, 22:54
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