Go to Post Of course, the banana might mean nothing. It could just mean that Dave needs more potassium in his diet. :) - KathieK [more]
Home
Go Back   Chief Delphi > Technical > Programming > NI LabVIEW
CD-Media   CD-Spy  
portal register members calendar search Today's Posts Mark Forums Read FAQ rules

 
Reply
Thread Tools Rate Thread Display Modes
  #1   Spotlight this post!  
Unread 01-04-2018, 03:16 AM
Levansic's Avatar
Levansic Levansic is offline
Registered User
AKA: Len Evansic
FRC #0585 (Cyber Penguins)
Team Role: Mentor
 
Join Date: Jan 2012
Rookie Year: 2008
Location: Tehachapi, CA
Posts: 211
Levansic has much to be proud ofLevansic has much to be proud ofLevansic has much to be proud ofLevansic has much to be proud ofLevansic has much to be proud ofLevansic has much to be proud ofLevansic has much to be proud ofLevansic has much to be proud ofLevansic has much to be proud ofLevansic has much to be proud of
Team 585 (Super) Holonomic Drive

FIRST Team 585 the Cyber Penguins is proud to release our new customizable holonomic drive code.

Features at a glance:
  • Use 3-8 holonomic wheels to drive your robot
  • Use Talon SRX motor controllers with the new Phoenix drivers in closed-loop mode
  • Mix and match wheel sizes
  • Mix and match wheel types (omni or mecanum)
  • Use wheels at different distances from the robot spin center
  • Currently robot-centric only

The code is here at our team's BitBucket server. We will update this thread when enhancements are added.

An example of this code in use is here in a 2018 basic robot project. This code re-creates our 2017 hybrid holonomic drive (2 mecanum + 2 omni), but lacks niceties like dead banding or gyro correction.

A white paper is coming soon...

Last edited by Levansic : 01-04-2018 at 02:10 PM.
Reply With Quote
  #2   Spotlight this post!  
Unread 01-16-2018, 01:48 AM
Levansic's Avatar
Levansic Levansic is offline
Registered User
AKA: Len Evansic
FRC #0585 (Cyber Penguins)
Team Role: Mentor
 
Join Date: Jan 2012
Rookie Year: 2008
Location: Tehachapi, CA
Posts: 211
Levansic has much to be proud ofLevansic has much to be proud ofLevansic has much to be proud ofLevansic has much to be proud ofLevansic has much to be proud ofLevansic has much to be proud ofLevansic has much to be proud ofLevansic has much to be proud ofLevansic has much to be proud ofLevansic has much to be proud of
Re: Team 585 (Super) Holonomic Drive

We’ve updated our code to add a convenience VI for setting up Talon SRX controllers to set many of the relevant closed-loop parameters. We have also updated our basic robot project to show how to use this new VI to set up the motors. The links in the first post will go to the correct files.

Additionally, we updated the basic robot project to drive a 6-wheel omni holonomic drive, with two different spin-center distances and non-orthogonal wheels. If you are wondering how or why you might use this, here’s our proof of concept prototype base for Power Up.

https://youtu.be/dbrgNOCppno

We have a lot to add to get the drive code where we want it. We hope to have gyro and accelerometer correction done this week. If everything goes well, we should be testing our candidate final design gear ratios (12:1 or 9:1) next week. Our target for the white paper is a week after build season, but we’ll try to get it out earlier if we can.
Reply With Quote
Reply


Thread Tools
Display Modes Rate This Thread
Rate This Thread:

Posting Rules
You may not post new threads
You may not post replies
You may not post attachments
You may not edit your posts

vB code is On
Smilies are On
[IMG] code is On
HTML code is Off
Forum Jump


All times are GMT -5. The time now is 11:42 PM.

The Chief Delphi Forums are sponsored by Innovation First International, Inc.


Powered by vBulletin® Version 3.6.4
Copyright ©2000 - 2018, Jelsoft Enterprises Ltd.
Copyright © Chief Delphi