Explanation of Cheesy Poof's Quick Turn

[EthanJF123]

Cheesy Poof, team 254, posted their 2014 code. Looking at it, I'm not able to understand how or what purpose their quick turn function works. I understand that holding a button and turning allows you to take a sharp turn at a high speed, but can someone explain in more detail how it works.does team 834, Robobees, use this implementation. Thank you.

[Thad House]

Because of the way the algorithm works, when there is no throttle applied, no output will be sent to the motors at all, even if the robot is commanded to being turned. What quick turn does is basically turn on the standard arcade drive mode, which allows in place turning. At speed, it will allow taking much sharper turns then would normally be allowed, which is sometimes needed. Cheesy Drive is normally a way to make constant radius turns while at high speed, which is often necessary in order to allow high speed turns. There is also some other trickery in the code involving inertia, to force the robot to turn at speed. I know a fair amount of teams have ported the code, however turned on quickturn when the throttle is at 0. This allows spinning in place without having to press the button.

[adciv]

Originally Posted by EthanJF123

does team 834, Robobees, use this implementation.

It's 836 and we use a very simplified labview version which comes from Team FRC 33 The Killer Bees. Basically, all ours does is allow us the option to quick turn without throttle applied. The subfunction we use is here. The version we use doesn't have any inertia compensation, it basically just converts the Throttle/Wheel to tank as:

Standard Arcade:
Difference (Left-Right) = Throttle*Wheel
Quick Turn:
Difference (Left-Right) = Wheel