pic: Uber3.0 - prototyped

[Brandon Holley]

Originally Posted by JamesCH95

Care to elaborate about what it did? Balance wheel speeds using encoder feedback?

We utilized both encoders in the drive system, and a gyro.

We basically just elaborated on Cheesy Drive. 2 stick drive system- 1 stick is essentially "throttle" the other stick is essentially "steering". There was a button on each stick. One button for shifting, the other button for "quick turn". Quick turn essentially turned the steering stick into a single stick drive system for turning in place.

As we traveled at a faster rate of speed, the gains in the turning loop would adjust so that dumping the steering stick all the way to one side or the other would create a smooth, controlled turn. This occurred even at 16+ ft/s top speed when we traveled back and forth across the field. Additionally, even at low speeds, the robot could only turn in place using the quick turn button, otherwise it would drive in a small arc.

I did not do the actual coding of it, so I'm speaking more from a theoretical/design point of view, but that's essentially what it did.

Driving without this setup at top speed was quite difficult. We noticed right away as our driver began driving just the drive system in week 3 or so. He practiced driving the full field and then dipping into/out of the human player lanes over and over again. We continued to tune the system until he felt it was solid, and we were satisfied with the results.

-Brando