Hi, so we are getting ready for states and one our problems right now is the fact that during driver control, the robot jerks forwards when breaking (our breaType is break). The problem that this causes is when we have a ball in our puncher, it will almost always fall out as the robot tips forward when stopping. We are thinking of making a ball holder but want to fix this problem anyways. We know that this is the result of our design flaw with the robot being front heavy but it’s too late to change it mechanically so we were wondering if there was a software solution. We’ve tried making the break type on coast but there’s too much drift so we are wondering if there was any other solutions? Maybe making the break type half coast half break. Note we do not have drivetrain and the V5 motors are attached directly to wheel and chained.Thanks!
You shouldn’t need to set a BrakeType during driver control.
You could do somehting in PID in the code to more gradually slow the robot down, or just set the brakeType to coast unless. Button is pressed, making it go back to braking.
Is it possible to do something mechanical to stop the ball from falling out? This, to me, would seem like a good enough solution if you’re short on time.
Edit: Perhaps just the rigidity of zipties might help. The puncher would push through them no problem, but loading might be tricky.
I wouldnt use a brake command
Look up motor slew control. The jerking stop is due in part to the break mode, but also to changing from a high speed value to 0 in a tiny period of time. Slew spreads out large changes in motor value over a longer period of time. That longer period might only be a half a second, but you can see/feel the difference in how a robot drives.