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  #31   Spotlight this post!  
Unread 11-14-2017, 10:30 AM
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Re: Driving Style

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Originally Posted by 31Josh61 View Post
Is there any code i can take a look at to get an idea of how to code in either arcade 2 stick or arcade with throttles?
If you look at my links above, the link for what we settled on is the 'arcade 2 stick' you want. If you want 2 joysticks instead of 1 controller, it's a simple matter of mapping the different Joystick objects' axes to the different methods.

I say 'simple' because it's something you'll want to be fundamentally good at once your drivers start giving feedback of how they like to drive.
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Unread 11-14-2017, 10:40 AM
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Re: Driving Style

To do two stick arcade with WPILib, you have to pass the values from each joystick into the method, as you cannot call arcadeDrive by referencing more than one joystick axis directly. It's a little annoying but nothing too difficult to do.
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Unread 11-14-2017, 12:15 PM
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Re: Driving Style

I personally use what we call "Norm Drive" (based on the mentor that came up with it). You use a Logitech 3 axis joystick, assign forward and backward to Y and turning to Z, add a turning speed multiplier in the code and your good. Then basically what you have is forward and backwards are forward and backwards, and turning left/right is turning left/right. Maybe I'm just crazy but I'd never use anything else.
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Unread 11-14-2017, 01:30 PM
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Re: Driving Style

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Originally Posted by SpruceyBrucey View Post
I personally use what we call "Norm Drive" (based on the mentor that came up with it). You use a Logitech 3 axis joystick, assign forward and backward to Y and turning to Z, add a turning speed multiplier in the code and your good. Then basically what you have is forward and backwards are forward and backwards, and turning left/right is turning left/right. Maybe I'm just crazy but I'd never use anything else.
Kids who are good at flying the Apaches in the Battlefield series (particularly the old school Desert Combat mod for CS) would love this style. Of course, I cheated. Since I learned to fly via the Descent series, I re-mapped the axes to match the controls in those games, which then made some crazy tricks in the DC mod possible.

I was very surprised about how intuitive split arcade on a controller felt for skid-steer drive trains.
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Unread 11-14-2017, 01:35 PM
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Re: Driving Style

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Originally Posted by 31Josh61 View Post
Is there any code i can take a look at to get an idea of how to code in either arcade 2 stick or arcade with throttles?
You can see our (commented!) OI code here.

We use an OIArcadeWithDpad, with the rotation throttle being a ThrottlePolynomial and the forwards throttle being a ThrottleSum of the triggers, each represented by a ThrottlePolynomial. The map we construct it from is here, scroll down to "oi" for the relevant part.
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Unread 11-14-2017, 01:41 PM
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Re: Driving Style

I prefer tank. Going into my third year driving, I've used both arcade and tank. In 2016 I used arcade because my predecessor suggested it. The entire season I felt as if I was not in control of the robot and never even mentioned it to my team because I'd never driven before. Yes, tank is harder to control at first but once it starts to become fluid you gain much more control over your robot. Maneuvering around defense and lining up to a target is much easier in tank. Tank drive takes a while to completely master so I suggest getting as much stick time as possible. After switching to tank in 2017, it was like clockwork. I felt much more confident opening the robot up to full speed with tank drive.
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Unread 11-14-2017, 03:45 PM
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Re: Driving Style

Our drivers generally prefer tank programmers use arcade and we use arcade for most of our demos. I would like it if the drivers liked arcade, we can provide an easier drive straight, etc. But end of the day, going to try and make the driver happy.
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Unread 11-16-2017, 04:54 PM
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Re: Driving Style

I love tank drive, it's the most intuitive thing to me. However...

Learning to drive competitively is just like learning anything else that is considered a skill: practice makes near perfect. I remember driving the robot as a 1st year member, and I crashed into a lot of things. I was happy we had bumpers. Over the years, I continued to practice and honed my skills. I am the 2nd best driver on the team (v. close behind my driver buddy from this year), and it's all because of practice.

A few practice tips:

1) If your team has access to a longer piece of carpet, practice extensively at high speeds. This will end up helping your control at speed at competition.

2) If your team has access to more than one driveable robot, practice by recruiting someone else to drive the other robot, and practice playing against defense, and playing defense.

3) If your robot preforms an element of the game well (like scaling for us), create drills to make your performance as efficient as possible. For example, our scaling is really quick, and we have a powerful drive-train. We have a drill called "The 6-second Climb" where we start at the other end of our carpet, race back to our scaling platform, and climb in as little time as possible.

4) Think about what you felt went poorly in terms of driving at STEMley. Practice those aspects, it will probably help you in 2018.

5) Re-watch match videos (if you have them, if not, definitely invest in a camera or something for 2018, they are extremely useful), and identify things that went well, and situations where you could have improved.

6) This is a fun one: Practice driving backwards. Do all normal tasks, but reversing the robot instead of going forwards. Really helps in both directions.

Hope that helped!
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Unread 11-16-2017, 04:59 PM
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Re: Driving Style

My team has used a Xbox 360 controller (or a knockoff, the official sometimes bug out) and a quasi-tank drive.
The robot steers with a single stick of the controller, so similar to the way you would drive a vehicle in a video game. Pretty simple, forward has both sides go forward, left makes one side go forward and the other reverse (likewise, right does the opposite), with all values in between falling somewhere between (not a very eloquent explanation, but you get the idea). Quasi-tank because it is mostly a drop wheel tank drive, but not all wheels are the same, the rear 2 being a omni. This allows for smooth rear drifting, and makes the system run very smoothly. Little adjustments wont cause the same jerky motion tank drives can be prone to.
This has many benefits, chiefly that we can take a member who is good at video games and hand them the remote and they will be pretty effective with little training, and very effective with training. Another is that it the entire drive station takes up almost no room, just the laptop and the remote.
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Unread 11-16-2017, 05:04 PM
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Re: Driving Style

Quote:
Originally Posted by Sir_Fenwick View Post
My team has used a Xbox 360 controller (or a knockoff, the official sometimes bug out) and a quasi-tank drive.
The robot steers with a single stick of the controller, so similar to the way you would drive a vehicle in a video game. Pretty simple, forward has both sides go forward, left makes one side go forward and the other reverse (likewise, right does the opposite), with all values in between falling somewhere between (not a very eloquent explanation, but you get the idea). Quasi-tank because it is mostly a drop wheel tank drive, but not all wheels are the same, the rear 2 being a omni. This allows for smooth rear drifting, and makes the system run very smoothly. Little adjustments wont cause the same jerky motion tank drives can be prone to.
This has many benefits, chiefly that we can take a member who is good at video games and hand them the remote and they will be pretty effective with little training, and very effective with training. Another is that it the entire drive station takes up almost no room, just the laptop and the remote.
Interesting. 2809's old 2013 robot utilized this system, however most if not all of our current members think that it's really unnatural. This may be due to the robot being really old and poorly cared for. The controls were too sensitive and not consistent enough, so we switched it back to tank drive.
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Unread 11-16-2017, 05:11 PM
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Re: Driving Style

Quote:
Originally Posted by Sir_Fenwick View Post
...forward has both sides go forward, left makes one side go forward and the other reverse (likewise, right does the opposite), with all values in between falling somewhere between (not a very eloquent explanation, but you get the idea)...
Unless I'm missing a detail somewhere, that sounds like arcade drive.

Edit:
Quote:
Originally Posted by Monochron View Post
What games control using Tank? Aside from that sweet Pod Racer game. Man, what a gem.
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Last edited by GeeTwo : 11-16-2017 at 11:36 PM.
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Unread 11-16-2017, 07:28 PM
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Re: Driving Style

I have used split arcade in the past with a game controller and it seems to work very well. It gives a good combination of controllability and speed. You can also do some more advanced stuff with it like exponential speed for finer control and continuous radius turning to improve performance if needed.
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Unread 11-16-2017, 10:22 PM
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Re: Driving Style

Quote:
Originally Posted by Monochron View Post
What games control using Tank? Aside from that sweet Pod Racer game. Man, what a gem.
Quote:
Originally Posted by Cothron Theiss View Post
Lawn mowing simulator?
I have no idea. I think it was some fighter pilot game. I know he's also has driven zero-point turn lawn mowers for the past 6 years.
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