Closed jcorcoran closed 9 years ago
In case the image isn't clear I was thinking the left wheel could be sent -y+x, right could be sent -(y+x). The graph shows the resultant actions for that equation.
Check the math, this is just an idea I had, if you have a better one or see an error in my logic, fix it, make it your own.
It would be interesting to test a command which would allow the operator to manually re-orient a tote within the intake by allowing the direction of the two intake wheels to be manipulated (not just drive both in or both out). e.g. drive one wheel in while the other is driven out.
I think something like this would be a good place to start.![Imgur](http://i.imgur.com/ha3SQ5V.png)
We may need to limit the rates of travel (along X)and we almost certainly need to add a deadband along X... maybe something like this will work: