Sandbox
From Team1370
(Difference between revisions)
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''A workspace for temporary things'' | ''A workspace for temporary things'' | ||
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==Joystick Config== | ==Joystick Config== | ||
*Control values will range from 0 to 254. | *Control values will range from 0 to 254. | ||
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| + | *Each value corresponds to a specific motor speed on the robot. 127 is neutra, <127 is reverse, >127 is forward. | ||
==Motion== | ==Motion== | ||
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*The throttle will change the thrust multiplyer and/or additive. | *The throttle will change the thrust multiplyer and/or additive. | ||
| + | ''Sensitivity'' | ||
| + | * Joystick sensitivity is a problem, but there are a few solutions | ||
| + | |||
| + | ==Linear Output== | ||
| + | *We currently operate on linear output, where every joystick value x corresponds to motor value reception y plus or minus throttle setting z. | ||
| + | |||
| + | *Throttle can count as a speed shifter. If we have max and min output value limiting functions, we can shift the throttle to achieve a higher max forward speed and a lower max reverse speed and vice versa if necessary on the fly. | ||
| - | == | + | ==Exponential Output== |
| - | + | *I reccomend using exponential output for controlling acceleration. In this situation, every joystick value x is given a value of (1/(127X^2)) + 127 to get y (or something similar). This particular equation will make it so that the robot quickly speeds up but accelerates more slowly as x increases. | |
Revision as of 00:05, 12 February 2006
A workspace for temporary things
Contents |
Joystick Config
- Control values will range from 0 to 254.
- Each value corresponds to a specific motor speed on the robot. 127 is neutra, <127 is reverse, >127 is forward.
Motion
- Forward and backward motion will be achieved by cycling Joystick 1 and Joystick 2 forwards and backwards at the same time
- Turning will be achieved using a track configuration. Moving Joystick 1 forward at a higher rate than Joystick 2 will result in a left turn, and vice versa for right. Moving left forwards equal to right backwards will result in a 360 degree left turn and vice versa for right.
- The throttle will change the thrust multiplyer and/or additive.
Sensitivity
- Joystick sensitivity is a problem, but there are a few solutions
Linear Output
- We currently operate on linear output, where every joystick value x corresponds to motor value reception y plus or minus throttle setting z.
- Throttle can count as a speed shifter. If we have max and min output value limiting functions, we can shift the throttle to achieve a higher max forward speed and a lower max reverse speed and vice versa if necessary on the fly.
Exponential Output
- I reccomend using exponential output for controlling acceleration. In this situation, every joystick value x is given a value of (1/(127X^2)) + 127 to get y (or something similar). This particular equation will make it so that the robot quickly speeds up but accelerates more slowly as x increases.
