Although the WRO football has now disabled the 4 wheel omni football robot, but the 4 wheel omni football robot are quite practical in other competition. Here we share the previously tested 4 wheel omni football robot control block. Take a look~
Instructions
Angel: The target angle of the robot movement, then the four motor must be placed according to the following figure in order to function properly:
The blue arrow in the above picture is the motor’s preset forward direction. If you want to go forward, enter 0 degrees and robot will go forward, enter 90 degrees to the left…etc, The angle relationship is basically the same as the relative position of Compass.
Power: The basic power (standard power) of robot movement.
HT Compass RelHeading：Just input the HT Compass Relative Heading here, if input empty, the robot will not correct it heading self.
Error Correction Kp： HT Compass RelHeading * Kp = Error Out, it will put the error amount into 4 or 2 morots, to correct robot’s heading, if Kp too large, robot will not correct ordinary.
Update
- Ver 1.2 2019.06.05 update info：
- Add HT Compass Relative Heading Input.
- Add Kp Error Correction Input.
- Remove Rotate Input, replace by HT Compass and Kp Input.
- Code optimization by OFDL HYT
Download
Download Link(GitHub)：http://bit.ly/2HLXmee
Author：OFDL HSU、OFDL Wun、OFDL HYT
Ver：1.2
