Polynomials and VEX Drive Motor Control

VEX Robots can be more competitive when they have addressed several drive motor control challenges:

  1. Stopping a motor completely when the joystick is released. Joysticks often do not output a value of  “zero” when released, which can cause motors to continue turning slowly instead of stopping.
  2. Starting to move gradually, not suddenly, after being stopped. When a robot is carrying game objects more than 12 inches or so above the playing field, a sudden start can cause the robot to tip over.
  3. Having motor speeds be less sensitive to small joystick movements at slow speeds. Divers seeking to position the robot precisely during competition need “finer” control over slow motor speeds than fast motor speeds.

These challenges can be solved using one or more “if” statements in the code controlling the robot, however using a single polynomial function can often solve all of these challenges in one step. A graph can help illustrate the challenges and their solution:

Continue reading Polynomials and VEX Drive Motor Control

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