paper: Killer Bees BuzzXVII 2012 Code

[kenavt]

Originally Posted by apalrd

The HMI we used this year has the left Y as "Throttle" and right X as "Wheel" in the halo drive. The idea is to run an Arcade-type control with the throttle and wheel controls on different sticks. The Halo algorithm we use is a mix of 254's Cheesy Drive algorithm with some additional logic to switch to "quick turn" mode when the throttle is near 0. We also used a similar system in Occra and Vex, and all of our drivers prefer two-stick Halo over two-stick Tank.

A comment on Palardy's implementation with Cheesy Drive and Halo Drive:

Halfway through competition season (I believe after week 4), Palardy graciously gave us these VIs, and we implemented them almost verbatim (we added our own ramping software at the inputs). I won't comment for our driver, but when I used it occasionally at home, it was better than tank (my previous favorite). It seemed more natural for locating the robot precisely where you wanted it, and at the orientation you wanted it.

Thank you very much Palardy!