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#16
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Re: How to code Macanum ddrive
For a first test to make sure everything works the way you expect, I'd suggest using just one of the Attach 3 joysticks and using the simple code as-is.
Assuming you get the LabVIEW update installed. That just means rotate will be controlled by the throttle on the Attack 3, so make sure that's centered when you start. Once you're sure the mechanics all work properly and the PWM wiring goes to all the correct motors, then start improving the controls. |
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#17
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Re: How to code Macanum ddrive
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The button is not required. You could leave the X-axis (strafe command) enabled all the time. Field experience has shown, however, that it is useful to disable the X-axis unless it is needed. This way, the driver doesn't unintentionally command strafe when he doesn't want it. Quote:
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Last edited by Ether : 24-10-2010 at 21:51. |
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#18
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Re: How to code Macanum ddrive
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Something I've found to be helpful too: Put the robot up on blocks and observe the wheels:
Pay careful attention to how you have the mecanum wheels mounted too: Right way Wrong way Last edited by Ether : 24-10-2010 at 22:16. |
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#19
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Re: How to code Macanum ddrive
Good points, Ether, thanks.
Yes, I suppose I should have said it was my version of your describe drive, but I was just being general and as simple as (I thought) possible. But you explained your control ideas very well in your (second to) last post, thank you. I new you could probably drive a robot tank style with the holo drive VI, but it would require complex converting of two joystick axis into the X and Y holo drive terminals. Thanks for your explanation of how to do it easily! |
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#20
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Re: How to code Macanum ddrive
I have finished coding it and i have attached a picture. Is it accurate? i just want to make sure so i dont disappoint the construction crew that worked so hard to make me a test frame with attached macanum wheels.
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#21
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Re: How to code Macanum ddrive
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I don't recognize Tank, Arcade, or Halo in the code you made. Did you mean to set the holo vi for polar? If so, doesn't look like direction input is scaled correctly. Did you mean to use the throttle for rotation? Seems awkward. Driver needs three hands. Last edited by Ether : 15-12-2010 at 20:25. |
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#22
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Re: How to code Macanum ddrive
O.o I meant to have it on "cartestian" not polar. slight error woops! I wanted it to be like 1 joystick controls the up and down motion of robot, and the other joystick the starfing part, thats why i attached the y axis to one joystick(up down) and the starfing and x to other joystick. Isnt that what my code is doing? :S
And plus * mark posted this picture earlier in this post > http://www.chiefdelphi.com/forums/at...9&d=1287950414 > in which he has 3 wires that can go into the holonomicdrive(cartestian) but i only have 2 terminals :S i did the update , how come he has an extra bit? i only have x, y, rotation and robotdevref and gyro angle ? i connected the x and y but where does the throttle go? Last edited by whcirobotics : 15-12-2010 at 22:58. |
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#23
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Re: How to code Macanum ddrive
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Why not use a more standard driver interface like one of the following: 1) Tank Drive plus strafe. See posts 9 and 17 in this thread. Takes advantage of driver's familiarity with tank drive. 2) Halo plus rotate. Y1 controls fwd/rev, X1 controls strafe, X2 controls rotation. Takes advantage of driver's skill at playing Halo-style videogames. 3) Arcade plus strafe. See post 17 in this thread. You can use the throttle to adjust joystick sensitivity (gain) so different drivers can adjust it to their liking. Last edited by Ether : 16-12-2010 at 00:43. |
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#24
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Re: How to code Macanum ddrive
I did the Halo + rotate and attached the up/down to y1, starfing to x1, and rotation to x2. But where does the axis three throttle go? In the picture which mark posted he had it going to one of the terminals in the cartestiandrive, but in the picture i attached, i only have x, and y, and rotation :S am i missing something? an update perhaps? I have attached the code, is it accurate now?
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#25
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Re: How to code Macanum ddrive
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But seriously, as for the throttle, where you "attach" it depends on what you want it to do. What do you want it to do? You need to re-read Mark's post to understand that he attached the throttle to the rotation input "For a first test to make sure everything works the way you expect" with one Attack3 joystick. If you now have two joysticks (or a joystick with a twist axis), you don't need to do that. Last edited by Ether : 16-12-2010 at 09:22. |
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#26
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Re: How to code Macanum ddrive
I meant the up/down as in forward and reverse. And i am using two joysticks so i guess i wont need to attach throttle to anything. I will try this code(hopefully it works) but you are saying it is wrong so i am not so sure as to try it or not. :S
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#27
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Re: How to code Macanum ddrive
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As for the rest of the diagram, I am not a LabVIEW programmer so maybe someone else will take a look at it to see if there are errors. Quote:
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#28
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Re: How to code Macanum ddrive
As a LabVIEW programmer, your newest screen shot looks good to go.
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#29
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Re: How to code Macanum ddrive
Hi CD, I got 5 team members and 1 mentor to come on a Wednesday(December 22, 2010) and we build a test robot with the macanum wheels in 4 hours. We finished and i deployed the code and pressed enable on teleop. This is a video of what happend:
http://www.youtube.com/watch?v=es7OF_V-LWU Is there something wrong with the code? It is the same code as the one attached above. But the problem was that one wheel kept turning. I tried attaching the pwms to other than that of 7, 8 , 9 , 10 and put them in 3 , 4 , 5 , 6 and again that wheel kept turning. :S The mentor suggested that that one might be calibrated other than 0, but what else could possibly be wrong? Maybe the software? :S Help please. Last edited by whcirobotics : 23-12-2010 at 10:05. |
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#30
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Re: How to code Macanum ddrive
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- Create a separate new software project with VERY SIMPLE CODE that allows you to control each wheel one at a time. This should be very quick and simple to do. Last edited by Ether : 23-12-2010 at 10:54. |
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