To make the robot climb to the third level, we need to monitor the four legs to make sure the robot doesn't tip, there are several ways to do so.
1. Four seperate motion magic talons:
Each piston/leg will have its own motion magic for its talonSRX. all four of the talons follow the same path, and they will most likely go up at the same pace. (this is the simplest way to do it)
2. Two pairs of leading and following talons:
The top right and bottom left talons calculate their way up, and their adjacent talons will follow their outputs / positions.
3. Movement graph with constant checking:
All four legs set their height to follow a single graph of height by time. if one of the legs moves starts overshooting or stalling, all the other motors change their movement to lower the difference between them.
4. Use gyro to make sure the robot wont tip.
Based on the angle of the robot, we speed up or slow down the legs.
katzuv
commented
5 years ago
To make the robot climb to the third level, we need to monitor the four legs to make sure the robot doesn't tip, there are several ways to do so.
1. Four seperate motion magic talons:
Each piston/leg will have its own motion magic for its talonSRX. all four of the talons follow the same path, and they will most likely go up at the same pace. (this is the simplest way to do it)
2. Two pairs of leading and following talons:
The top right and bottom left talons calculate their way up, and their adjacent talons will follow their outputs / positions.
3. Movement graph with constant checking:
All four legs set their height to follow a single graph of height by time. if one of the legs moves starts overshooting or stalling, all the other motors change their movement to lower the difference between them.
4. Use gyro to make sure the robot wont tip.
Based on the angle of the robot, we speed up or slow down the legs.