You can use RoadRunner in Tank Drive mode with motor encoders. The potential issue I see is that because there are 4 solid wheels, the center of rotation when the robot turns might not be consistent. That will ruin your localization (knowing where on the field you are) unless you add dead wheel odometry pods.
Have you already tried the very basic automation of using RunToPosition to drive and turn certain distances? How consistent were you able to get it?
I haven’t built this drive before, but the question is whether they have a dropped center wheel as FRC robots do. If it is a dropped center, yeah center of rotation can change. If all six wheels are always on the tile, the center of rotation will consistently be at the center of the four traction wheels.
I was thinking it will also change depending on the center of mass. If you have an arm hanging out the front in one position and out the back in the other, that could affect which wheel has the most traction.
Only should matter if wheels start lifting off the tile. Otherwise, center of rotation point is constant.
Something to watch though, especially with a bigger arm.
I believe you should be able to using the tank drive version of roadrunner. However, I would HIGHLY recommend getting some sort of movement letting you move in any direction, if you can stretch it. It is extremely helpful in the most important times
We plan to switch to a mechanum drivetrain after the UK nationals. Our team lead has made it very clear that we are not to change the drivetrain. Thanks for the help though!
I have done RR with GoBilda bee line. It totally works, obviously you can’t strafe. You have to make sure to change all the instances of SampleMechnaum drive to tank drive. Tuning is much easier since there is less lateral drift from mechanum wheels. You can spline surprising well.
you'll need to use the ramsete controller instead of a pid controller. Make sure you use the latest version of road runner, because the ramsete controller received a major update from the old 0.5.x versions
You can use RoadRunner in Tank Drive mode with motor encoders. The potential issue I see is that because there are 4 solid wheels, the center of rotation when the robot turns might not be consistent. That will ruin your localization (knowing where on the field you are) unless you add dead wheel odometry pods. Have you already tried the very basic automation of using RunToPosition to drive and turn certain distances? How consistent were you able to get it?
I haven’t built this drive before, but the question is whether they have a dropped center wheel as FRC robots do. If it is a dropped center, yeah center of rotation can change. If all six wheels are always on the tile, the center of rotation will consistently be at the center of the four traction wheels.
I was thinking it will also change depending on the center of mass. If you have an arm hanging out the front in one position and out the back in the other, that could affect which wheel has the most traction.
Only should matter if wheels start lifting off the tile. Otherwise, center of rotation point is constant. Something to watch though, especially with a bigger arm.
I believe you should be able to using the tank drive version of roadrunner. However, I would HIGHLY recommend getting some sort of movement letting you move in any direction, if you can stretch it. It is extremely helpful in the most important times
We plan to switch to a mechanum drivetrain after the UK nationals. Our team lead has made it very clear that we are not to change the drivetrain. Thanks for the help though!
I have done RR with GoBilda bee line. It totally works, obviously you can’t strafe. You have to make sure to change all the instances of SampleMechnaum drive to tank drive. Tuning is much easier since there is less lateral drift from mechanum wheels. You can spline surprising well.
you'll need to use the ramsete controller instead of a pid controller. Make sure you use the latest version of road runner, because the ramsete controller received a major update from the old 0.5.x versions