Accurately "Arcing" in Auton/Hybrid Mode

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Accurately "Arcing" in Auton/Hybrid Mode

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07-04-2008, 01:45

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Mad Programmer

AKA: Billy Sisson

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Re: Accurately "Arcing" in Auton/Hybrid Mode

to do our arc, we tell the robot to do a certain number of rpms on each side of the wheel base, using the following (pseudo) code:

Code:

VForward = 40;
omega = dist_from_wall / some_constant + desired_dist_from_wall / some_constant;
wheel_left = VForward + omega;
wheel_right = VForward - omega;

it has gotten us some pretty accurate turns, with some tweaking.

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