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Unread 14-02-2009, 22:09
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Re: 2809 - Traction Control Demo

Quote:
Originally Posted by FRC4ME View Post
Here's a hint; you don't need any bearing at all on the robot's position, speed, or acceleration to prevent slipping. You don't need current sensors, either; just an encoder on each drive wheel.

I assume 2809 is probably doing what we're doing this year. More details to come on Monday (if it works).
We are using a torque sensor on each wheel. You can only apply so much torque to a wheel before it slips. Since everything is constant (robot weight, playing surface, wheel, ...) then all you have to do is apply power to the wheel till you reach a predetermined torque target and the wheel will not slip and you will approach max acceleration and pushing power.

I don't know if this is how you are doing it, I am guessing, but that is what we are doing.
 


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