Joystick Limiter & Low Friction Simulation - Lionics 1230

We used a Labview VI to limit the rate of change of the motor outputs based on the joystick input. This will hopefully improve our ability to control our robot on the low friction surface on the 2009 FRC field. A surprising effect was that if we limited the rate of change more than is necessary, the robot moves as if it is on a low friction surface without traction control. The wheels on the robot are IFI traction wheels.

The purpose of this is to maximize our traction on the field, but it is also serving as a good drive team training scenario to see how our drivers manage when control is limited. The movement of the robot seemed fairly similar to other videos of robots moving on the Regolith. We don't have a field to practice on, but this will help train the drivers to manage until we can use an actual field.

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  • Science & Technology

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