tank drive system
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Posts: 46,084
I am building a telerobot using the transmitter and receiver from an R/C
airplane. I want the steering to be tank like. To turn, one motor or the
other would slow down depending on direction of turn needed. When in the
neutral position, simple left or right would have one motor reverse while
the other would go foward having the robot spin in place. What is the best
way to accomplish this? I am using a BS2, but the code involved seems
messy. Is there a chip out there that will convert the pulses from two
channels of the receiver to 2 channels of PWM and forward and reverse for
each? I have designed the drive system to handle the current so the control
signals is all I need. Thanks in advance for all your help.
Rusty
airplane. I want the steering to be tank like. To turn, one motor or the
other would slow down depending on direction of turn needed. When in the
neutral position, simple left or right would have one motor reverse while
the other would go foward having the robot spin in place. What is the best
way to accomplish this? I am using a BS2, but the code involved seems
messy. Is there a chip out there that will convert the pulses from two
channels of the receiver to 2 channels of PWM and forward and reverse for
each? I have designed the drive system to handle the current so the control
signals is all I need. Thanks in advance for all your help.
Rusty
Comments
One two channel mixing joystick to control all movements
Algorithm may be something like:
Deadband is optional and should prevent on=off fluctuations
initial declarations
Neutral constant 'neutral value for center Joysticks -no move
Deadband constant 'value for deadband allowed
LeftMotor variable 'output for Left Motor
RightMotor variable 'output for Right Motor
FwRv variable 'input value from forward-reverse channnel joystick
Yaw variable 'input value from left-right channel jopystick
loop
read FwRv
read Yaw
if if FwRv < ( Neutral+Deadband ) or FeRv > ( Neutral-Deadband ) then
FwRv= Neutral
if if Yaw < ( Neutral+Deadband ) or Yaw > ( Neutral-Deadband ) then
Yaw= Neutral
LeftMotor= Neutral + ( FwRev - Neutral ) + (Yaw - Neutral )
RightMotor= Neutral + ( FwRev - Neutral ) - (Yaw - Neutral )
gotoloop
this should do the following mixing movements
Forward
\|/
Left ) + ( Right
Turn /|\ Turn
Reverse
where + is the joystick in the center (neutral);
( is a clockwise spin
) is counterclockwise spin
the straight lines points a direction from the +
Another simple way to have a easy to pilot "tank steering" system is to
use two sliding potentiometers with a central "click" and mounting side
by side like a 2 motor boat style command lever throtle and forget
"mixing softwares".
ACJacques
Rusty wrote:
>
> I am building a telerobot using the transmitter and receiver from an R/C
> airplane. I want the steering to be tank like. To turn, one motor or the
> other would slow down depending on direction of turn needed. When in the
> neutral position, simple left or right would have one motor reverse while
> the other would go foward having the robot spin in place. What is the best
> way to accomplish this? I am using a BS2, but the code involved seems
> messy. Is there a chip out there that will convert the pulses from two
> channels of the receiver to 2 channels of PWM and forward and reverse for
> each? I have designed the drive system to handle the current so the control
> signals is all I need. Thanks in advance for all your help.
> Rusty
>
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> I am building a telerobot using the transmitter and receiver from an R/C
> airplane.
Don't get caught. The FCC approves 72.xxxMHz bands for RC aircraft use, and
75.xxxMHz for RC ground (boats, cars, etc). Flip-flopping them ain't quite
kosher. If the gear is made by one of the bigger manufacturers (Futaba,
Airtronics, Hitec) you may be able to send it back and get it converted.
FYI...
-dave
hate is bad
dave paton http://www.dpaton.net dave at ieee dot org
check out the following links for one way to do what you want:
http://members.tripod.com/~divelec/mtrctrlint.html
http://members.tripod.com/~divelec/hbridge.html
or these links to do it another way:
http://divelec.tripod.com/rcic2/rcic-2.html
http://divelec.tripod.com/mc/mc6_specs2.html
Carl
Diverse Electronic Services
Original Message
From: Rusty <lineman@m...>
To: <basicstamps@yahoogroups.com>
Sent: Sunday, July 22, 2001 12:59 PM
Subject: [noparse][[/noparse]basicstamps] tank drive system
> I am building a telerobot using the transmitter and receiver from an R/C
> airplane. I want the steering to be tank like. To turn, one motor or the
> other would slow down depending on direction of turn needed. When in the
> neutral position, simple left or right would have one motor reverse while
> the other would go foward having the robot spin in place. What is the
best
> way to accomplish this? I am using a BS2, but the code involved seems
> messy. Is there a chip out there that will convert the pulses from two
> channels of the receiver to 2 channels of PWM and forward and reverse for
> each? I have designed the drive system to handle the current so the
control
> signals is all I need. Thanks in advance for all your help.
> Rusty
>
>
> To UNSUBSCRIBE, just send mail to:
> basicstamps-unsubscribe@yahoogroups.com
> from the same email address that you subscribed. Text in the Subject and
Body of the message will be ignored.
>
>
> Your use of Yahoo! Groups is subject to http://docs.yahoo.com/info/terms/
>
>