Go to Post Vex has helped to shape me into what I am today. - thefro526 [more]
Home
Go Back   Chief Delphi > Technical > Programming
CD-Media   CD-Spy  
portal register members calendar search Today's Posts Mark Forums Read FAQ rules

 
 
 
Thread Tools Rating: Thread Rating: 2 votes, 5.00 average. Display Modes
Prev Previous Post   Next Post Next
  #43   Spotlight this post!  
Unread 15-08-2015, 10:35
AustinSchuh AustinSchuh is offline
Registered User
FRC #0971 (Spartan Robotics) #254 (The Cheesy Poofs)
Team Role: Engineer
 
Join Date: Feb 2005
Rookie Year: 1999
Location: Los Altos, CA
Posts: 803
AustinSchuh has a reputation beyond reputeAustinSchuh has a reputation beyond reputeAustinSchuh has a reputation beyond reputeAustinSchuh has a reputation beyond reputeAustinSchuh has a reputation beyond reputeAustinSchuh has a reputation beyond reputeAustinSchuh has a reputation beyond reputeAustinSchuh has a reputation beyond reputeAustinSchuh has a reputation beyond reputeAustinSchuh has a reputation beyond reputeAustinSchuh has a reputation beyond repute
Re: Team 254 Presents: 2015 FRC Code

Quote:
Originally Posted by x86_4819 View Post
What led you to use sin functions like this to scale your steering? Was it just trial-and-error, or was there some method to it?

Also, in the same code file, could you explain what you do with "negative inertia" better?
The goal of the sin functions is to make the turning input less sensitive in the middle and more sensitive at the edges. I'm sure you could do it other ways, but that was the first one which popped into my head in 2011 when that code was written. When you are barreling down the field at full speed, you want to be able to make fine corrections, and also be able to throw it into a pretty hard spin.

Negative inertia is an idea which I stole from the Thinkpad trackpoint. https://en.wikipedia.org/wiki/Pointing_stick It adds extra turn power in to compensate for the inertia of the robot. The end result is that the robot feels more responsive.
 


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 11:39.

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