Programmers on the Drive Team

[AWoL]

Originally Posted by Caleb Sykes

For a hypothetical mecanum drive, top speed in the forward direction is 10fps, and top speed in the strafing direction is 5fps, and at other angles the top speed is between these two speeds. With your code implementation, feedback is used to assure that the robot's top speed never exceeds 5fps, regardless of which angle the robot is moving.

Is this a correct interpretation of what you did?

Eh, close enough. The effect is the same. My code actually has more to do with scaling the speed by the amount of joystick input on the x axis.

Originally Posted by JamesCH95

Why do you think that this is advantageous?

Originally Posted by lark95

This really comes into play if a team has less time to practice. Driver can develop the muscle memory needed to drive much faster.

Funny that you say that as I think that we probably have the some of the most time for driver practice, and we also put a lot of effort into it, building a full practice field and trying to simulate the most realistic practice matches possible. We end up having about four weeks of practice with our practice bot after the end of build season.

Now my actual reasoning behind that was when we were practicing, I was having trouble smoothly executing omni-drive-esque/swerve-drive-esque maneuvers (with both field centric and robot centric control) with the robot moving at different speeds when moving on different angles.

Originally Posted by JamesCH95

This falls into the 'we geared are transmissions too fast, but it's okay because we slowed them in code' fallacy. It cripples the drivetrain's performance artificially. I've never had a driver that couldn't immediately deal with the difference in speed with mecanum.

Well we geared them exactly for the strafing speed we wanted, so we do attain full output through the motors when moving laterally. As for the actual driving reasoning...see my comments above.