We have halonomic H drive for our robot. In autonomous programming the robot won’t get on the bridge due to the middle (slide) wheel. Please help!
It might be a good idea to post a video or pictures of your robot so people can see where the problems are to help provide advice.
Let me try here without a picture. You have an H shaped base. There are omni wheels at the ends of each arm, and a single omni wheel at the center that is 90 degrees from the four main drive wheels.
The center omni wheel is getting hung up on the lip of the bridge. The small rollers are not in the right position to roll up the ramp.
Things to try
- As you get ready to climb the bridge, roll the center omni back and forth about 20 degrees in each direction. The back and forth should let the rollers contact the bridge and help pop it up over the lip.
- Are the wheels on the “arms” of the H as far forward as possible? You are trying to get as much lift from them as possible.
- Consider some kind of shock absorber / spring on the center wheel to allow it to move up and down a fraction of an inch. One of the hexbug legal kits has a small spring shock setup, but there have been pictures of rubber band loaded setups here.
- Consider removing the center omni, is it really making that much difference in the movement of the robot?
That happened to us too. We moved the center wheel back some, and it worked. Hope that helps.
We have this issue too, but ours gets caught on the little plastic pins holding down the center plastic “VEX” sheet. We have moved as much weight off the center of he robot as possible and squared everything up to help take some weight off the wheel. The only other solutions we have are the “back and forth” described above and making the robot drive up the bridge at 100% power then slow as it reaches the top of the bridge. The shock and rubber bands are interesting solutions that we’ll have to look at.
It might be a good idea to post a video or pictures of your robot so people can see where the problems are to help provide advice.