Set Motor Speed

[K Lenox]

Hello I am Kyle Lenox of Team #2632

I want to know if there is a way to control the motor speed in Teleoperated mode.

The thing is that when I pull on the joystick, the moter goes from 0% to 100% instantly. I want to know if there is a way to make the motors slowing gain rpms in Teloperated mode. Ive gon in there and have tried it myself, but the robot was just constanly slowly moving, almost as if I made an infinate loop by accident. I really need to know if there is a way to do that.

The other I idea is if I can Make the joystick less sensitive. I barely tilt it and it is going 100% speed. Is there a conponent that can adjust the jostick. I want it to work like a car petal. When you slitly tilit it it goes slowly, but when the petal is hittting the floorboard, your going rally fast. Will anyting work like that??

Any help is appreciated, Thx

Kyle Lenox

[Mark McLeod]

You can cube the output of the joystick, or use some function like that. (Cubing is important by the way, because the odd number of multiplies preserves the negative sign. If you only squared then -1 would become 1)
This gives you a slower speed increase when the joystick is close to neutral, and a greater increase when it's almost at the end of it's range.

[K Lenox]

Thankyou so much. I will try it out at my robotics meeting form 4:30-6:30 to see if it works, thanks!!

Kyle Lenox

[EricWilliams]

Originally Posted by Mark McLeod

You can cube the output of the joystick, or use some function like that.
This gives you a slower speed increase when the joystick is close to neutral, and a greater increase when it's almost at the end of it's range.

Mark, I believe what he was describing was that he wanted to slow the spin-up time of the motor even when the joystick gets mashed full on/off. I may be wrong on this, but I think the joystick smoothing algorithm will only affect the instantaneous mapping of input to output, and not add the "inertia" he's looking for.

However, I don't have a clear solution for what I'm interpreting his problem as.

[EricWilliams]

Originally Posted by EricWilliams

Mark, I believe what he was describing was that he wanted to slow the spin-up time of the motor even when the joystick gets mashed full on/off. I may be wrong on this, but I think the joystick smoothing algorithm will only affect the instantaneous mapping of input to output, and not add the "inertia" he's looking for.

However, I don't have a clear solution for what I'm interpreting his problem as.

I probably should have spent more time reading his second paragraph. Sorry about that.

[K Lenox]

Hey I started trying to insert it into the teleoperated mode, but I don't know where it should go.

I took everything left of the y-axis value (unbundle by name) from the bit image above, and took the (x-squared, multiply, and the Set Motor speed) and brahed it off of the y-axis value in the joystick for loop. did I do it right?

If someone can tell me how to take my block diagram an make it into a image, I can sow you what I did. I just don't know how to do it.

Thx
Kyle Lenox

[K Lenox]

Dont click on the Teleop vi. that i attached above, it wont load properly.

Now how do I make an image appear like the one somebody made that hs those two images above this exact post???/

Kyle Lenox

[Doc Wu]

Originally Posted by K Lenox

Now how do I make an image appear like the one somebody made that hs those two images above this exact post???/

Windows Vista and 7 have a built-in tool called "Snipping Tool" that does the job very easily.

For XP, it's available as part of a "Windows Experience Pack" which was intended for tablet PCs, but will work on many XP installations. It's free from Microsoft

Or there are a number of alternative solutions available.

[K Lenox]

I got to the print preview, but it wont let me copy an paste.
Am I doing it right?

Now I am using two motors that move the robot. We are using Skid Steering as our form of driving. What I can currently do is slightly move the joystick forward and the robot is at full speed. I dont want that. What I want to do is see if there is a way to go into Teleoperated Mode, and do something in there where the controler is more sensitive.

Lame man terms: take controler, slightly tilt = slow speed
take controler, aggresive tilt = fast speed

Is there a way to do that?

**I did go into the Begin and found that on the "Open 2 Motor" Icon(then the drop down box says jaguar) there is a orange thing that sticks out and when I hovered the mouse over it, it said sensitivity. Is this what I am looking for???

Thx
Kyle Lenox

[Mark McLeod]

The keyboard key says "Print Screen" or an abreviated form of that. It's usually in the upper right of a PC keyboard.
On the Classmate it's one of the Function keys on the top row.

• Hit the "Print Screen" key
• Go to Windows Start -> All Programs -> Accessories -> Paint
• Hit Cntrl-V or use File -> Paste
• Crop & save

When you make a CD post you'll see a button that says "Manage Attachments".
Click on that and you can browse to the file you've saved, then click "Upload".

For your Teleop you just need to remove the Motor Set and put the new output directly into Arcade Drive.
You might also want to modify axis 1 (x) the same way to slow down the turn, but you'll have to try it.

[Alan Anderson]

Originally Posted by K Lenox

Now I am using two motors that move the robot. We are using Skid Steering as our form of driving. What I can currently do is slightly move the joystick forward and the robot is at full speed. I dont want that. What I want to do is see if there is a way to go into Teleoperated Mode, and do something in there where the controler is more sensitive.

If a tiny bit of motor power drives the robot full speed, it sounds like you might have more of a drivetrain issue than a controller one. What motors are you using, and what is between them and the wheels?

Alternatively, if a tiny bit of joystick motion commands full power, it sounds like you might have an odd-acting controller. What kind of joystick are you using? Can you run your code (just click the "run" arrow in the Robot Main vi) and probe the values coming out of your joystick, making sure they change smoothly and continuously from -1 to 0 to 1 as you move it?

[Mark McLeod]

I use "Print Screen", then open a photo tool like Paint, do a paste, then crop it and save as a jpeg (NOT bmp).
I use Irfanview.


Teleop looks fine except you haven't specified which motor you're going to be moving. Is this for the Mast, Kick, or Shell motors?
If it's one of those, then you want that new code where those motors are currently being set.

I can open Teleop fine, and it's easier for me to help if I get to see everything in there.