Differences

This shows you the differences between two versions of the page.

--- 2022_drivebase [2022/05/23 19:48] – rfhuang
+++ 2022_drivebase [2022/06/03 15:37] (current) – rfhuang
@@ Line 1: / Line 1: @@
-===== 4 Traction, 2 Omni Wheeled Tank Drive =====
+===== Drivebase =====
-The overall design was decided before the season started, was not modified thereafter
+__4 Traction, 2 Omni Wheeled Tank Drive
+__ \\ The overall design was decided before the season started, was not modified thereafter
-[[https://github.com/Team-4795/2022-Rapid-React/blob/main/src/main/java/frc/robot/subsystems/Drivebase.java|Drivebase.java]] [[https://github.com/Team-4795/2022-Rapid-React/blob/main/src/main/java/frc/robot/commands/CurvatureDrive.java|CurvatureDrive.java]]
+**Github** \\
+[[https://github.com/Team-4795/2022-Rapid-React/blob/main/src/main/java/frc/robot/subsystems/Drivebase.java|Drivebase.java]] \\ [[https://github.com/Team-4795/2022-Rapid-React/blob/main/src/main/java/frc/robot/commands/CurvatureDrive.java|CurvatureDrive.java]]
+----
 ==== Early Testing ====
@@ Line 9: / Line 13: @@
 The code for the drivebase was created in within the first 5 days of the season, was immediately ready to test once the drivebase was handed off to software. There were no physical problems noted as of that time.
-{{:drivebase-testing.gif?400|}}
+{{:drivebasetesting2022.mp4}}
+----
 ==== Iterations ====
   * Changed to curvature drive
-  * Added a speed limiter to prevent tipping
+  * Added an acceleration limiter to prevent tipping
     * Later on in the season after ECU we found that there was an issue of tipping if stoped abruptly and was driven in the opposite direction. As a result of this we added a check if this happened to limited the speed.
-  * Added a quadratic throttle ramp
+  * Added a cubic throttle ramp
+----
 ==== Path Planning ====
@@ Line 29: / Line 37: @@
   * Guildford, Two-Three Ball Auto
   * States, Three-Four Ball Auto
+  * Worlds, Four Ball Auto