Integration of Arcade Steering In pursuit of designing a system that has versatility, consistency, and reliability The ÜberBots brainstormedmany ideas for possible control systems. Much research and prior experience led us to design a drive system withmany permutations, driver tuning, and an advanced system of automated error correction. A major innovation inour control system was the integration of arcade steering, which assisted the other steering modes reach the desiredpositions swiftly. To successfully execute this system, the software team designed a function which wouldcalculate the error from the closed-loop steering system and proportionally incorporate the error to adjust the speedof the drive motors. Therefore, in addition to rotating the two pairs of wheels attempting to turn the robot, arcadedrive is used to compensate for any error that would otherwise be left uncorrected in a separated turning loop.
Speed of Wheels Relative to Rate of Turning Speed of Wheels Joystick X-axis Red– Outside Wheels Blue– Inside WheelsFurthermore, due to the design of the robot, when in a 90 degree drive system the wheels are offset a few inches. Although it is onlya few inches, the original control system was designed around swerve and traverse drive trains. Therefore, when a 90 degree turnwas executes during the 90 degree drive mode the robot would lose a significant amount of control. In order to correct this, theÜberBots fine-tuned a control algorithm that slowed the speed down relative to the magnitude of turn. Illustrated in the tableabove, there is a direct variation of wheel speed relative to the X-axis. This function not only improves control, but whenimplemented on our drive train, the robot can pivot a full 360 degrees in place. The ability to pivot is a major asset, because thisallows the robot to rotate the kicker towards the goal without moving the robot’s position on the field. As a result, with theassistance of driver input or camera coordinates, our robot can rotate the kicker preciously and efficiently in order to quicklymanipulate game pieces.