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Re: paper: FRC #33 The Killer Bees 2013 Software - BuzzXVIII (Buzz18)
Quote:
Originally Posted by JamesTerm
When you say halo/cheesy drive in this context... do you mean driving the steering without using the y component?
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Yup. At y=0 the math works out the same for x-only movement as the Halo drive did.
The intent for Radius was to replace the x-axis input in the Cheesy Drive with the theta*r input. We provisioned a lot more to place the raw/quick turn elsewhere on the stick range (the negative half) in the alternate-raw implementation, but the normal raw is just a cheesy drive with a quick turn button.
In fact, the entire reason we used the interp curves was to support the alternate raw implementation. We never revisited the math when we decided we didn't like it.
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Kettering University - Computer Engineering
Kettering Motorsports
Williams International - Commercial Engines - Controls and Accessories
FRC 33 - The Killer Bees - 2009-2012 Student, 2013-2014 Advisor
VEX IQ 3333 - The Bumble Bees - 2014+ Mentor
"Sometimes, the elegant implementation is a function. Not a method. Not a class. Not a framework. Just a function." ~ John Carmack
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The game was once played on corn, for crying out loud. - Kimmeh [more] 
26-07-2013, 21:27
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