Kiwi Field Oriented Driving Programming

[GeeTwo]

An even cleaner way to limit speeds:

biggest = max(1.0, abs(wheel1), abs(wheel2) ,abs(wheel3))
wheel1 = wheel1 / biggest
wheel2 = wheel2 / biggest
wheel3 = wheel3 / biggest

[/quote]
If you want to make the controls less sensitive at small deflections of the joysticks, you can change 1.0 in the first line for 1.5 or 2.0 or even as high as 2.414 (1 + sqrt(2)), which appears to be the highest number that can come out of the previous transformations.

And yes, using degrees and radians incorrectly could cause discontinuities, esp. at the transition through 0.

[teku14]

Doesn't this procedure make it so that even the slightest input will give full throttle? I mean sure it scales it appropriately now but What if you only wanted the wheels to run at say 0.1, 0.05, 0.05 ? Now this scales it to 1, 0.5, 0.5

[Jared]

Originally Posted by teku14

Doesn't this procedure make it so that even the slightest input will give full throttle? I mean sure it scales it appropriately now but What if you only wanted the wheels to run at say 0.1, 0.05, 0.05 ? Now this scales it to 1, 0.5, 0.5

It won't scale 0.1, .05, .05 at all. If you run GeeTwo's scaling function with these three numbers, biggest comes out equal to 1.0, and you divide all three wheel speeds by 1. The scaling will only happen if one wheel is over 1 (or under -1).

GeeTwo's code:

biggest = max(1.0, abs(wheel1), abs(wheel2) ,abs(wheel3))
wheel1 = wheel1 / biggest
wheel2 = wheel2 / biggest
wheel3 = wheel3 / biggest