A Simple Improvement to Driving

[Andrew Schuetze]

[quote=generalbrando]This may be common knowledge, but I couldn't find it searching, so I post away.



Those two averages will be 1/4 way from the original values toward the other joy stick. The result, if you can visualize, is that if you push both sticks forward, but you don't do it in perfect sync, the program will minimize the difference and the robot will go straight forward instead of swerving a lot.

For the techies:
pwm01=(p1_y+((p1_y+p2_y)/2)/2)
pwm02=(p2_y+((p1_y+p2_y)/2)/2)

I have not seen this posted before but have not looked at drive algorithms much in the past. I appretiated your program line codes as the paragraph description then made sense.

Question: What is the result with one stick full forward and the other full reverse? Does it still do a zero degree spin albeit just slower? The spin factor in a traditional tank steer is where a lot of loss of control causes problems. The other being the swerving during a forward motion that you mentioned.

Checking my logic, both sticks in maximum deflection in the same direction results in the averages being the actual stick positions??


Thanks for posting,

APS