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Unread 12-02-2009, 20:59
Mentor_Mike Mentor_Mike is offline
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Cool 2809 - Traction Control Demo

Video: http://www.youtube.com/watch?v=l1Qk2YPdCY8

Hi All,

So, here's are preliminary traction control demo. Don't mind the flooring or the two very dillusional people muttering away.

Cheers,
M_M and JNo.
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Unread 12-02-2009, 21:02
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Re: 2809 - Traction Control Demo

That's pretty neat. Quite cool.

How are you guys detecting a loss of traction? Encoders are my only guess...

-Tanner
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Unread 12-02-2009, 21:06
Mentor_Mike Mentor_Mike is offline
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Re: 2809 - Traction Control Demo

Yep, there's an encoder in the system. Actually there's two, and some secret sauce.

It's amazing how 2 years of kinematics can actually be applied to real life.

And no, there's no accelerometers, or idle wheels.

M_M
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Unread 12-02-2009, 21:08
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Re: 2809 - Traction Control Demo

Quote:
Originally Posted by Mentor_Mike View Post
Yep, there's an encoder in the system. Actually there's two, and some secret sauce.

It's amazing how 2 years of kinematics can actually be applied to real life.

And no, there's no accelerometers, or idle wheels.

M_M
Wow, very amazing guys. I'm not even sure how we would do that...

Thumbs up to ya'll! Good luck with it.

-Tanner
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Unread 12-02-2009, 21:10
Mentor_Mike Mentor_Mike is offline
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Re: 2809 - Traction Control Demo

Thanks!
You too.

M_M
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Unread 12-02-2009, 21:13
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Re: 2809 - Traction Control Demo

That's sick.

Someone deserves a high five.

*High Five*

Care to elaborate on the mechanics and the programming theory behind it?
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Unread 12-02-2009, 22:16
Jonathan Norris Jonathan Norris is offline
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Re: 2809 - Traction Control Demo

Quote:
Originally Posted by thefro526 View Post
Someone deserves a high five.

*High Five*
Already Done.
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Unread 13-02-2009, 00:43
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Thumbs up Re: 2809 - Traction Control Demo

Helloooo from the North East
Oh Boy that is a great job........ DRIVE the bot and lots of great times will be ahead for your Team ...
GOOD LUCK in 2009
MOE and Team 88 TJ2 TYE DYE for ever oh yeah ???? OH YEAH !!!!
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Unread 13-02-2009, 09:30
Mentor_Mike Mentor_Mike is offline
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Re: 2809 - Traction Control Demo

Well, I'd love to tell you all exactly how this was pulled off, but I'm honestly not sure how much detail I"m allowed to reveal. (We haven't had a discussion with the team about this yet, so I don't want to jump the gun.)

Here's what I can tell you though:
- We use two encoders, one per side, in addition to another type of sensor.
- We found the accelerometers WAY too noisey, especially with the bumpy playing surface.
- All four (well, 3 and a bit wheels) are driven, we have no idlers.
- Haven't worked out (unfortunately) how to implement any type of optical sensor to figure out linear velocity. [I'm convinced those new-fangled "gamer mouses" would work, but we don't have the $$$ to test this theory.]

That video is no where near the final product btw. We have to calibrate and optimize for the playing surface and the weight of the trainer.

Anyway, I'll tell you what I can. Please feel free to ask quesitons. If anyone can guess what we did I'd be happy to PM you with our solution. It can be a game of sorts.
BUT, I'll probably have a white paper drawn out by our first regional (Toronto) and it'll be posted for all to see.

M_M
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Unread 13-02-2009, 09:40
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Re: 2809 - Traction Control Demo

I'm glad to hear that you won't be littering the field with wheel spinach. I don't think the Swifter would be much help in cleaning up that kind of mess!

Seriously, that looks like a really good traction control system. From the demo it looks like the robot is a lot easier to push around with the system turned off. Is that true?
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Unread 13-02-2009, 09:45
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Re: 2809 - Traction Control Demo

Great Job Team!!

Very Impressive
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Unread 13-02-2009, 18:02
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Re: 2809 - Traction Control Demo

This is the most efficient and incredible traction control system our team has ever seen. We would like to use the encoder as well to assist in our traction control. Can you help us?
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Unread 13-02-2009, 19:03
Mentor_Mike Mentor_Mike is offline
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Re: 2809 - Traction Control Demo

Sure, what do you want to know?
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Unread 13-02-2009, 19:18
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Re: 2809 - Traction Control Demo

wow guys well done...

Is there any way you guys can share that and help us out?
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Unread 13-02-2009, 19:45
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Re: 2809 - Traction Control Demo

We would like to use the encoder to measure the rotations of the wheel per second then multiply by the radius of the wheel in order to find the distance the wheel should be traveling (theoretical distance). Then we would use another sensor to measure the distance our robot has actually traveled. If the actual distance is less than the theoretical distance our wheel is slipping. Do you have any suggestions on the sensor we should use to measure the actual distance traveled or any suggested code we could use in order for the change in speed of the motor, in turn lowering or speeding up the rev/sec., to be automatic?
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