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Unread 17-03-2008, 17:06
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Re: HELP!

I have some clarification questions and then an answer based on my assumptions (questions).

1. Can you turn the robot well when you are already moving?
2. Does the problem only happen when you are sitting still and you want to turn without moving forward first?
3. do you have the wheels on one side go in reverse when turning or are you trying to turn with just one drive wheel? (see our experience below for why I ask this question).

While I think that everyone's suggestions with weight distribution and everything is valid, it may be somewhat difficult to change now that your robot is basically built. But, it may be your only choice for now.

Our robot is a six wheel drive with omni's in the front and back and KOP wheels in the middle. One problem we had initially with turning (or stearing that matter) is that the wheels on the side the robot was turning to would get thrown into reverse - even when the robot was moving forward. this caused the it to turn very quickly (and make some aweful noises). Sitting still, however, it could easily spin on a dime (6 wheel does that for you). Our fix was to program the joystick to only throw the wheels in reverse on one side when the joystick was nearly pushed all the way to the side. This allowed both sides to drive forward while steering as well as to allow us to spin while sitting still.

So, if you are not already doing something similar, you may consider a program change to reverse one motor while going forward with the other but only allow this when the robot is sitting still or when the joystick is pushed all the way sideways. Control the speed of the spin or turn with programming.

Anyway - hope this is useful. otherwise, good luck.
 


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