Page 280 - Robot Design Handbook ROBOCON Malaysia 2019

2.1.2.2 Problems faced with the drive

We had faced numerous problems with the drive and most of them were due to

unevenness in the feed-back. Therefore, we had to refine the codes such that the unevenness
was eliminated. The problems we faced were:

 Uneven drifting of the bot

 Over velocity at the loading zone

2.1.2.3 How We Overcame Them

The uneven drifting of the bot was mainly due to the inertia caused by the bot when
making a turn. This was because the distribution of the components differs on every single

part on the base of the bot. Certain wheels will lack of force or overflow of force which

caused the drifting. After a few testing to observe the wheels and modifying the speed
(adjusting code) of the wheels causing the drift, the movement of the overall wheels are

balanced.

In order to shorten the time for the bot to reach the Landing Zone, faster speed is

needed to move the bot in a shorter time. This caused the bot to have difficulty to stop when
reaching the loading zone and may crash. Therefore, we re-programmed the speed of the

wheels such that when the bot have reached the final state, we will be able to slower its
speed and prevent it from crashing.

The manual drive mode is used so that the operator can change or manipulate the
bot’s position and orientation at a point where it is needed.

2.1.2.4 Controller Interface
We decided to use the ps2 controller to control the bot by changing different modes

based on different situations. Initially we planned to use the wireless controller as it is easier

to be connected and has high efficiency in data transmission. However, we considered that
the budget for buying a wireless controller was not worth it and the strength of the signal

depends on the location which indirectly causing much uncertainty. So, we had used ps2
controller which has a built-in Bluetooth module and more budget-friendly compared to a

ps4 controller. The Bluetooth module has stable data transmission and lower power-
consumption when compared to using wireless-based device.

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