This might be a stretch, but I’m interested in getting our 2011 robot with AM Mecanum wheels to do the following, either autonomously or with reasonable driver control:
The robot needs to travel in a circle (10 revolutions) while always ‘facing’ the center of the circle. The center of the circle will be directly below our modified tube grabber. We have an elevator design, so our grabber point (and hence circle center) is roughly the center of a game piece which is touching the bumper.
Oh, did I mention this needs to be done on a baseball diamond grass? And be executed quickly (competing against humans doing the same thing nearby)
The idea is to compete in the ‘dizzy bat spin’ between innings at the local summer baseball league games. Players (all human so far!) stand a bat up in front of them, put their forehead on the bat, and spin around the bat 10 times, and then try to run to 3rd base (starting at the on deck circle)
We’d do this with the robot on the first base side to avoid any collision safety issues-- we don’t need dizzy people running into the robot…
So, we have a gyro already installed, and have field oriented drive (or bot oriented) but I’m wondering if anyone has ideas on how to make this work well. We haven’t tested anything yet… just collecting ideas right now.
An easy way would be to actually slightly ‘pick up’ the bat, and not worry about drifting while circling, but it would be much better if we could keep the center point fixed.
I’m thinking custom programming that makes the robot travel in the circle, with gyro+joystick that simply translates the center point, so the driver can compensate for drift only, using a baseball-field oriented system.
Should be a simple matter of having the circle movement be ‘automatic’ but adjusted with a drift compensation vector coming from the joystick.
Or is there a better way?