Go to Post Thou shalt becometh pinned in eliminations. - JesseK [more]
Home
Go Back   Chief Delphi > Technical > Technical Discussion
CD-Media   CD-Spy  
portal register members calendar search Today's Posts Mark Forums Read FAQ rules

 
 
 
Thread Tools Rate Thread Display Modes
Prev Previous Post   Next Post Next
  #12   Spotlight this post!  
Unread 25-05-2015, 20:28
GeeTwo's Avatar
GeeTwo GeeTwo is offline
Technical Director
AKA: Gus Michel II
FRC #3946 (Tiger Robotics)
Team Role: Mentor
 
Join Date: Jan 2014
Rookie Year: 2013
Location: Slidell, LA
Posts: 3,709
GeeTwo has a reputation beyond reputeGeeTwo has a reputation beyond reputeGeeTwo has a reputation beyond reputeGeeTwo has a reputation beyond reputeGeeTwo has a reputation beyond reputeGeeTwo has a reputation beyond reputeGeeTwo has a reputation beyond reputeGeeTwo has a reputation beyond reputeGeeTwo has a reputation beyond reputeGeeTwo has a reputation beyond reputeGeeTwo has a reputation beyond repute
Re: Kiwi Field Oriented Driving Programming

An even cleaner way to limit speeds:
Code:
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.
__________________

If you can't find time to do it right, how are you going to find time to do it over?
If you don't pass it on, it never happened.
Robots are great, but inspiration is the reason we're here.
Friends don't let friends use master links.

Last edited by GeeTwo : 25-05-2015 at 20:32.
 


Thread Tools
Display Modes Rate This Thread
Rate This Thread:

Posting Rules
You may not post new threads
You may not post replies
You may not post attachments
You may not edit your posts

vB code is On
Smilies are On
[IMG] code is On
HTML code is Off
Forum Jump


All times are GMT -5. The time now is 04:36.

The Chief Delphi Forums are sponsored by Innovation First International, Inc.


Powered by vBulletin® Version 3.6.4
Copyright ©2000 - 2017, Jelsoft Enterprises Ltd.
Copyright © Chief Delphi