Drive Train Controls

Drive Train

• The drive train uses a dual controller system in which there is a primary and a secondary controller. The primary controller has precedence.
  • The primary controller has the ability to take over control if desired.
  • The primary controller also is able to determine power levels of all controllers.
  • The secondary controller is limited by the primary controller, in motion and in power speed.
• The drive train uses a curvature system in which the drive train is controlled by one joystick.

1. The speed is controlled by the y axis and influences the x axis of the Robot.
2. The rotation of the Robot is determined by the x axis and influences the z axis.
3. If the rotation is to an extreme then the method using quick turn is activated, in which both of the sides of wheels are influencing the rotation.
4. The secondary controller controls the driving and operations of the robot for the public at reduced speed. The secondary controller can be enabled or disabled by the primary controller at any time.

Dashboard Indicators

• The shuffleboard system is used.
• A layout is dedicated to if the Secondary Controller has Drive train enabled.
• Separate layout if the turret is enabled.
• Layout indicating power level (High, medium, and low ).
• Would prefer if a grid layout is used to track the curvature system navigation.

Layout

• The left joystick determines the curvature system.
  • The speed is determined by the y axis.
  • The rotation is determined by the x axis.
• Kill Switches on primary controller to disable the secondary controller.
  • The down D Pad.
  • The left and right bumper.
  • The B Button.
• The D Pad controls the power levels of the secondary controller.
  • D Pad left enables low power level ( 10% ).
  • D Pad Up enables medium power level ( 25% ).
  • D Pad Right enables high power level ( 50% ).
• Operational controls on primary controller.
  • The turret is enabled by the X button.
  • The both turret and drive are enabled by start button, the drive control gets automatically put on low power mode.
  • The turret and drive is disabled by kill switches.
• Projectile Mechanism layout.
  • Firing projectiles is used by the Right trigger.
  • Intake is used by the Y Button.
  • Eject is used by the A Button.