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Unread 09-12-2013, 10:14
gpetilli gpetilli is offline
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Re: Team 2471 swerve drives

Quote:
Originally Posted by yash101 View Post
This is partially off topic, but if you were trying to lock direction/orientation using a gyro or accelerometer, would you use a coprocessor or would you use the cRIO? Don't you need to continuously monitor it to make sure that the results are accurate? Also, what about some mechanism that works like an array of optical mice? I guess that the FPS would be a tad high for the mice sensors, but it should be able to gather movement!
Multiple threads have tested the cRIO and claim it has more than enough compute power. The standard driver station "periodic" rate is 20ms, which is what we are currently using.
The X,Y movement will use something similar to a mouse. We are using a 3D printed fork assembly to mount two orthogonal un-driven VEX 2.75 omni-wheels with VEX encoders tied to the cRIO FPGA to measure in/s. We are not using encoders on the driven wheels given the amount of slip we expect from a Killough drive.
 


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