How are you implementing traction control?

[Tom Bottiglieri]

We're basically using a two step process:

1. Smoke
2. Mirrors

[windell747]

We are planning to use an encoder wheel (omniwheel) with encoders attached to the gearboxes. Then the rotation of the shafts on the gearbox will be compared to the encoder wheel rotation. If they aren't moving at the same speed then we know that we are slipping.

Another thing to think about though is that once you loose traction, the bot will need to slow the motors down past where it started to slip to regain traction. Its sort of a hysteresis effect because of the differences in the statics and kinetic coefficients of friction.

[Boydean]

On our drive train, all four wheels are going to be powered their own motor. And then we are going to monitor the speed of the wheels with encoders. At the moment we are thinking that we going to monitor the speed of the robot with a another wheel that isn't powered and monitored with another encoder. Our chassis should be done by tonight, we will see how all these things go.