Traction Control Poll

[Zorkinian]

Hey all,

I'm wondering what teams are doing with traction control these days, especially given all the threads on it currently. What's your team doing?

We're going with a system of drive and follow encoders to detect slippage, and react appropriately.

[MrForbes]

poll only lets us pick one, but we're using different techniques in autonomous and teleoperated....

[Tom Line]

1. Formula that calculates maximum pwm that can be applied at any given speed (experimentally determine formula).
2. Then an Idler wheel that measures slip percentage and reduces pwm values to match current speed if slip exceeds threshold (if your robot gets knocked sideways suddenly, you're going to start spinning the wheels and you need to slow them back down to reattach).

[Stuart]

you know when we had a practice field last week. we noticed that traction control on a 4 wheel drive robot is only important for like the first half second of a match . . we found that Momentum control is a much more desirable thing( don't fight the trailer use the trailer to your advantage).

[FRC4ME]

Well, right now we're testing two different systems. One ramps up the joystick values over time and must be manually tuned. The other does some math to calculate the maximum PWM value we can apply to a motor at any given time based on the RPM of the motor (measured with encoders), coefficient of friction, weight of robot, battery voltage, and published CIM specifications. The advantage here is that there are no constants to tune - provided your measurements are correct, the system is guaranteed to produce the most responsive robot possible as per the laws of Newtonian physics.

[Andrew Y.]

traction controle...PSHH we dont need to stinking traction controle...all in the wrists