@11802M , is this for controlling the drivetrain?
If yes, then you may want to implement a deadband check to ignore the control values around the “zero” position as well as nonlinear scaling of the control values outside of the deadband.
See these topics for more details and code examples:
Hello everyone. Recently, my team made an exponential drive function for our robot’s drive base. It makes it easier to make small adjustments using the joysticks, while also allowing the robot to move at maximum power if necessary. I wanted to share it with the community.
First of all, let me explain what our drive base code looked like without exponential drive. There were two set____Drive functions that were used in the driver control section. For simplicity, I’ll only include the setLeftDriv…
Our students were a big fan of THIS remapping when using v4 the past few years.
Has anybody taken the time to remap the V5 motors? Not trying to have my students reinvent the wheel if it already exists.
Usually its cubic. Here is a graph of joystick cubed vs joystick itself.
[image]
Someone asked for this on facebook, here is my response from there.
Easy. Use a cubic function. I use a cubic function no matter how sensitive my drive train is. Basically it lets me get very fine control when I move the sticks lightly but if I move them all the forward I can get the full power. I would give you the exact cubic funtion i use on desks but I’m on mobile rn so lol can’t do that. But here’s a pic anyways
[IMG_0619.GIF]
See how it starts out slow but exponentially increases? Tweak around with some of the vars until it sits close enough to (0,0) and…
This can happen when the controller joystick needs calibration and also if it does not quite return to the home position when you are not touching it. Search the forum for joystick “deadband”, you will find some code that makes the motor control value 0 when the joystick is returning small values.
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