Go to Post There is nothing cooler than engineers playing rock music. - Jay Trzaskos [more]
Home
Go Back   Chief Delphi > Technical > Programming
CD-Media   CD-Spy  
portal register members calendar search Today's Posts Mark Forums Read FAQ rules

 
 
 
Thread Tools Rate Thread Display Modes
Prev Previous Post   Next Post Next
  #21   Spotlight this post!  
Unread 24-05-2010, 16:46
kgzak's Avatar
kgzak kgzak is offline
Registered User
AKA: Kris
FRC #4392 (Decievers) FRC #2075 (Enigma)
Team Role: College Student
 
Join Date: Dec 2008
Rookie Year: 2008
Location: Grand Rapids, Michigan
Posts: 418
kgzak is a splendid one to beholdkgzak is a splendid one to beholdkgzak is a splendid one to beholdkgzak is a splendid one to beholdkgzak is a splendid one to beholdkgzak is a splendid one to beholdkgzak is a splendid one to behold
Re: Swerve vs. Mecanum Programming

Quote:
Originally Posted by Alan Anderson View Post
If the system you're controlling does not have appreciable inerta and/or a slow response to changes in the control signal, a simple "full on"/"full stop" scheme can work fine. For example, a window motor usually stops as soon as you remove power, without significant overshoot. That's typical of a worm gear system.

On the other hand, if you're moving a massive mechanism around, you definitely want to slow it down on its way to the target position. Stopping it abruptly can lead to extreme stress on the gears (as demonstrated well by the teeth being stripped off a large sector of a heavy gear on the TechnoKats 2004 robot's arm by the team's programming mentor a few minutes before the pre-ship open house was to begin).
You may notice that there is a "slow down range" in my code. I have done multiple ways of programing a swerve as apalrd has described. I used this version because we weren't getting enough power out of our motor at low speeds and the swerve modules weren't turning very fast any way. We did not actually use a swerve drive this year on our robot, we wanted to but we didn't have weight, but we tested a swerve drive with a globe motor. I can post my other simple code for a swerve that subtracts but we also used this VI for actually moving the entire robot (comparing encoder to the position we want to go to) and we didn't want to slow down as we got to the ball instead we wanted to move, at full speed, to right before the ball and then slow down and search for the ball. It worked really well.
 


Thread Tools
Display Modes Rate This Thread
Rate This Thread:

Posting Rules
You may not post new threads
You may not post replies
You may not post attachments
You may not edit your posts

vB code is On
Smilies are On
[IMG] code is On
HTML code is Off
Forum Jump

Similar Threads
Thread Thread Starter Forum Replies Last Post
Mecanum or Swerve? buildmaster5000 Technical Discussion 73 18-04-2010 11:19
Programming Mecanum Zrob Java 22 04-04-2010 23:00
Mecanum Programming Help Mars Programming 8 27-02-2008 15:41
mecanum programming mrmummert Programming 27 28-01-2007 13:45
Need help programming our swerve with feedback? activemx Programming 25 13-04-2004 07:29


All times are GMT -5. The time now is 03:43.

The Chief Delphi Forums are sponsored by Innovation First International, Inc.


Powered by vBulletin® Version 3.6.4
Copyright ©2000 - 2017, Jelsoft Enterprises Ltd.
Copyright © Chief Delphi