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 Even better than any [book] is simply becoming an active member of the Chief Delphi forums. Where do you think I got everything I know? - sanddrag [more] |
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| Even better than any [book] is simply becoming an active member of the Chief Delphi forums. Where do you think I got everything I know? - sanddrag [more] |
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#15
17-03-2010, 11:55
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Re: fine control of robot with mecanum wheels
Something to be aware of is that during testing my team found that in order to control the robot at low speeds the motors must be given 40% of maximum voltage (to overcome the robots moment of inertia) and then once the robot is moving the power can lower slightly.
Other issues that could impact fine control is the lag time between control system and robot. My Team's robot uses a near identical setup, 8in andymark Mechanums wheels(with black mini wheels), andy mark toughboxes, chains connecting them with andymark wheel tensioners (Fiddly to the extreme to get right, but once right they havent failed through 13+ matches) all done open loop with no feedback, with jaguars on PWMs, and joystick mapping for fine control Robot control is a 3 axis joystick |
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