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#1
04-05-2009, 06:45 AM
 kyungjin Software Specialist AKA: Daniel VRC #0646 Team Role: Programmer Join Date: Aug 2008 Rookie Year: 2009 Location: Honolulu, Hawaii Posts: 65

I wanted to ask the Chief Delphi community here how to implement arcade style driving using code efficiently and naturally. To clarify what I mean, I wanted to know how to program arcade style controls by individually controlling the left and right motors that are connected to the wheels (one motor controls two wheels) using an efficient coding scheme.

I know the WindRiver FRC class comes with its own Arcade Drive scheme but, for educational purpose, I tried dissecting some of the code there and couldn't find out how it works. I was hoping the CD community can help me understand just how the Arcade Drive works (I'm wondering if it's some kind of mathematical equation based on X and Y inputs of the joystick).

Thanks a lot for your help guys. I appreciate it.

- Daniel
#2
04-05-2009, 11:14 AM
 Uberbots Mad Programmer AKA: Billy Sisson FRC #1124 (ÜberBots) Team Role: College Student Join Date: Jan 2006 Rookie Year: 2005 Location: Avon Posts: 739

left = y_axis + x_axis
right = y_axis - x_axis

thats the simple way to do it, and you also have to limit the output
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#3
04-05-2009, 12:08 PM
 Cadyyan The Button Man FRC #1716 (Redbird Robotics) Team Role: Mentor Join Date: Sep 2008 Rookie Year: 2007 Location: Wisconsin Posts: 11

I don't know if you are using Jaguars but I found that if you do NOT limit your max forward speed and max reverse speed then your jaguars can blow their breakers. To fix this I just used a multiplier of 99% of the max speed. AKA:
MotorOut = Speed * .99
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#4
04-06-2009, 10:02 AM
 virtuald RobotPy Guy AKA: Dustin Spicuzza FRC #2423 (KwarQs), FRC #1418 (Vae Victis) Team Role: Mentor Join Date: Dec 2008 Rookie Year: 2003 Location: Boston, MA Posts: 992

Quote:
 Originally Posted by Cadyyan I don't know if you are using Jaguars but I found that if you do NOT limit your max forward speed and max reverse speed then your jaguars can blow their breakers. To fix this I just used a multiplier of 99% of the max speed. AKA: MotorOut = Speed * .99
Odd. We've never had this problem.
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#5
04-06-2009, 10:28 AM
 Alan Anderson Software Architect FRC #0045 (TechnoKats) Team Role: Mentor Join Date: Feb 2004 Rookie Year: 2004 Location: Kokomo, Indiana Posts: 9,113

Quote:
 Originally Posted by Cadyyan I don't know if you are using Jaguars but I found that if you do NOT limit your max forward speed and max reverse speed then your jaguars can blow their breakers. To fix this I just used a multiplier of 99% of the max speed. AKA: MotorOut = Speed * .99
That's not a Jaguar issue. It'll happen if you put too much load on the circuit no matter what speed controller you use (or don't use). For example, our propeller gearing is slightly off optimum, and at full power the motors want to draw more than 40 amps. We have to throttle them back to keep from tripping the breakers. Incidentally, they are controlled by Victors.

Jaguars do have their own built-in 40-amp limit, and will shut down for several seconds if that limit is exceeded, independent of the circuit breakers.

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