Re: [CAD_CAM_EDM_DRO] Re: Problems in Timing Belt drive system in 6WD robot

Hi Bill,

Good to hear from you!

The turns are all generated proportionally, the sharper the turn, the
greater the differential between the two wheel speeds.

The "differential" mode of the RoboClaw motor controller has a mode that
takes two R/C channels (forward and steering), and outputs PWM drives
for two servo motors. Works great! However the R/C is only temporary,
as the motor controller will be driven from a micro-controller or PC.
So each side actually DOES run at a rate to describe the radius of the
wheel's paths. Outside wheels turn faster. If I go "full right" on the
joystick (or uP input) then I spin in place.

It's looking more like I need to change to "road" tires, instead of
"off-road" tires.

Currently, I'm updating my motor mounts to allow the motor to slide back
and forth, with the registration hub of the motor sliding in a long
pocket (easy with CNC).

Yeah, I researched that Borg Warner T20 Skid Steer Transmission. Really
cool!

Alan KM6VV

On 1/27/2013 3:40 PM, wanliker@... wrote:
> several years ago I had access to the transmission of an early model of the
> 6 wheeler. Both sides are driven independently of each other, with the
> ability to reverse one side with relation to the other, to make turns easier,
> and also spin on its own axis.
>
> Alan, can you somehow write a code to make the bot do something equal to
> this when turning, a slow turn has both sides turning forward, but at
> different rates, and the sharper the turn the more that is increased, until you
> get to the point that you spin one side in a reverse direction, in a "spin on
> its axis mode"
> For experimental purposes can you set your remote control up so that you
> have a joystick for each tread?
>
> If you then need a fully automatic direction control, make the motors do
> what you did with the hand control.
> bill,
> OLD list mom 77 now