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NRG948 / NRGRobot2018

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Issue #2 Research Autonomous movement with Mecanum Wheels. #2

Closed ChuweyBar closed 6 years ago

ChuweyBar commented 6 years ago

As we all know (or should know), we are using Mecanum wheels this year. Which means extra work during Autonomous. While using tank drive, motor controllers give us the exact rotation of the motor, thus with some calibration, we know how far we are traveling. However, mecanum wheel slips while spinning and they can also go sideways. (If you have a question regarding strafing and mecanum wheel slipping, do some research or ask leadership when they are not busy) Go on ChiefDelphi or any search engine and research how are we going to calculate the exact distance we are moving/strafing. Results are expected within a week. The faster the better.

edreed commented 6 years ago

Although there may be other threads, the one on Chief Delphi on Mecanum Encoder Algorithm is relevant and includes references to FRC Team 492 - Titan Robotics source for calculating distance. The algorithm is buried in the public void preContinuousTask(TrcRobot.RunMode runMode) method.

concodeia commented 6 years ago

For navigating around the field (in autonomous), we could use an ultrasonic and/or color sensor along with encoders.

chemwiz commented 6 years ago

if we know the number of rotation then we can use a formula to find the distance travelled as even while strafing we are spinning the wheel

Jeffreyxu11 commented 6 years ago

It should be, in theory, the same as moving straight, because even when we are strafing, the wheels are moving forwards or backwards. so if we calculate the distance for one rotation of all of the wheels, we can measure how far they would move/rotation.

ChuweyBar commented 6 years ago

According to @edreed 's previous comment, we can use Tomas to test out Titan Robotics' code. @SourishMurthy1 can you bring some rookies to work on that?