Go to Post I am allergic to work... - Mike Schroeder [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 Rate Thread Display Modes
Prev Previous Post   Next Post Next
  #12   Spotlight this post!  
Unread 16-04-2007, 17:53
Dave Scheck's Avatar
Dave Scheck Dave Scheck is offline
Registered User
FRC #0111 (WildStang)
Team Role: Engineer
 
Join Date: Feb 2003
Rookie Year: 2002
Location: Arlington Heights, IL
Posts: 574
Dave Scheck has a reputation beyond reputeDave Scheck has a reputation beyond reputeDave Scheck has a reputation beyond reputeDave Scheck has a reputation beyond reputeDave Scheck has a reputation beyond reputeDave Scheck has a reputation beyond reputeDave Scheck has a reputation beyond reputeDave Scheck has a reputation beyond reputeDave Scheck has a reputation beyond reputeDave Scheck has a reputation beyond reputeDave Scheck has a reputation beyond repute
Re: Crab / Swerve drive joystick control scheme

We have used the same basic crab control on all of our robots since 2002 (I wasn't on the team prior to that, so I don't know how those were controlled).

The X-axis of the left stick controls the crab angle. Since we use a closed loop system, when the joystick is centered, the wheels point straight ahead.

The right stick is where the interesting stuff happens. If we are trying to crab (based on the value of crab stick X), only the Y-axis of the right stick is used, and it becomes our throttle. When we aren't trying to crab, the right stick acts as a single stick differential drive.

This setup is similar to a FPS video game control except we don't attempt to strafe and rotate at the same time.
 


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

Similar Threads
Thread Thread Starter Forum Replies Last Post
Simple Swerve/Crab Rob2713g Technical Discussion 4 20-03-2007 19:00
Swerve drive control system dpick1055 Programming 8 22-01-2007 19:06
Swerve/Crab Rob2713g Technical Discussion 5 12-11-2006 22:05
Control Scheme Drok00 Control System 5 19-01-2006 16:57
Swerve/crab drive and tank turning activemx Technical Discussion 9 23-02-2004 18:26


All times are GMT -5. The time now is 04:45.

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