1058's Field Oriented Drive

[AmoryG]

Originally Posted by CraigHickman

Wow. Your team should be incredibly proud, as that is one of the smartest drive systems I have seen in FIRST. Seriously good work.

Out of curiosity, what sensors did you throw on there? I'm guessing gyro and compass, possibly accelerometer, but I'd be curious to see how they interact, and what controls what.

The amazing thing is you really only need a gyro to do something like (beats me how you program an omni wheel drive using this implementation, never have done it or thought about).

If you know what angle you have to be (gyro angle) and the angle you want to be (controller) then you know your angle error. Your robot's turning speed should be based on that error.

But obviously it takes a lot of fine tuning to get something like what PVCMike's team has done work well. It may look pretty in the video, but our team did something similar in last years competition. The wheels of our crab drive would face the direction we pointed our joystick, and another joystick would control the direction our robot was facing. Unfortunately, it was a bit sloppy and the trailer made driving the thing horrific.