Drive Control Systems: SOAD and Wii

[byteit101]

Last winter, as our team was deciding on our driver controls, debating tank, arcade, and other ideas, we came on a really cool idea: Semi-omni-arcade drive. The driver would point the joystick in the direction it needed to go, and using a gyro, the robot would go to that direction relative to the driver. After some testing, we decided it would be a better summer project, and went on our merry way. Later, when it was summer, we were thinking of cool drive control systems and thought the Cypress's accelerometer would be a cool way to drive.

Now, we have both of these working, and they are just cool! The Cypress board was surprisingly very easy, and was soon called a "Wii" drive by the rest of the team after I finished it one meeting and everyone wanted to try it.

Videos and Code: http://thecatattack.org/DriveSystems

The code also has a white ball on green tracking function, and a CANGroup that groups 1-4 CANJaguars in a sync for left/right so you can still use the RobotDrive class.
Also, when you enable, hold down button 11 for SOAD, 12 for tracking, and press 10 at any point to reset (or switch modes). It defaults to Wii drive.