🎯 Goal
Implement traction control and stability control logic using motor and inertial sensor data to improve drive behavior during acceleration, turning, and uneven terrain.
🧠 Functional Breakdown
✅ 1. Traction Control
Purpose: Detect and correct wheel slip by comparing commanded speed vs actual motor velocity.
Behavior:
Monitor each drive motor's .velocity(rpm) or .actual_velocity() in real-time.
Compare the commanded velocity (target) to actual velocity.
If a large difference (slip) is detected, reduce motor power to that side or smooth acceleration.
Inputs:
motor::velocity(rpm)
motor::spin(forward, speed, pct)
Optional: inertial::rotation() for heading correction.
Output:
Adjust power to motor(s) during runtime to limit slip.
Optional: Print debug values to Print Console.
✅ 2. Stability Control
Purpose: Maintain directional stability during movement, especially turns, by monitoring yaw and adjusting motor power to reduce undesired rotation or tipping.
Behavior:
When driving straight, compare initial heading to current heading using inertial::heading().
Apply proportional correction to motor power to maintain heading.
Optionally, use inertial::pitch() or inertial::roll() to detect excessive tilt (for anti-tip).
Inputs:
inertial::heading()
inertial::gyroRate(zaxis) or inertial::rotation()
inertial::pitch(), inertial::roll() (anti-tip feature)
motor::spin(...)
Output:
Dynamically adjust left/right motor speeds to maintain heading.
Limit turn rate to avoid instability.
Optional: throttle or halt motion if tipping is detected.
🧰 Hardware and APIs Required
motor — for reading velocity and applying corrections
motor_group (if using grouped motors per side)
inertial — for heading, yaw rate, pitch, and roll
Timer or thread — for time-based sampling loop
🎯 Goal
Implement a basic ABS-like braking system using motor velocity feedback to prevent wheel lockup and maintain control during hard braking.
🧠 Functional Breakdown
✅ 1. Detect Braking
Detect when robot is decelerating quickly or entering a braking phase.
Watch for motor power dropping to 0 or .stop() being called.
✅ 2. Monitor Motor Velocity
Use motor.velocity(rpm) to sample each drive motor.
If actual velocity drops sharply (e.g., >300 rpm in <50ms), assume wheel lockup is occurring.
✅ 3. Pulse Brake / Modulate
Cancel motor.stop() and instead manually modulate power:
Temporarily set low reverse power
Or alternate between coast and small brake cycles
cpp
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motor.spin(forward, 0, pct); // slow stop
wait(10, msec);
motor.spin(forward, 5, pct); // tiny push
✅ 4. Maintain Stability During Braking
Use inertial.heading() to ensure robot is not spinning while braking.
Apply differential braking if needed (e.g., left side locking, right not)
🧰 Hardware and APIs Required
motor::velocity(rpm) — to detect sudden velocity drops
motor::stop() and motor::spin() — to modulate braking
inertial::heading() or gyroRate(zaxis) — to detect unintended rotation
Timer or thread — for periodic checking
Optional: Print Console — for logging velocity changes
✅ Acceptance Criteria
✅ Motor lockup is detected within 50ms.
✅ Braking power is pulsed or modulated instead of instantly stopping.
✅ Robot maintains heading during braking (no spinning or tipping).
✅ Code runs on-device, with no external dependencies.
(Optional) controller and Print Console — for debug info and manual control
🧱 Constraints
The robot is a tank drive or 4WD configuration.
The AI should not use any external libraries or internet access.
Only VEX V5 C++ API should be used.
Must run entirely onboard (autonomous-capable).
Modular and non-blocking if possible (use threads or non-blocking loops).
✅ Acceptance Criteria
✅ Traction control detects motor slip and adjusts power.
✅ Stability control holds heading during forward motion.
✅ Anti-tip behavior reduces or stops drive if pitch/roll exceeds safe bounds.
✅ System runs continuously during autonomous or driver control mode.
✅ Code is clean, modular, and well-commented for future tuning.
🎯 Goal
Implement traction control and stability control logic using motor and inertial sensor data to improve drive behavior during acceleration, turning, and uneven terrain.
🧠 Functional Breakdown
✅ 1. Traction Control
Purpose: Detect and correct wheel slip by comparing commanded speed vs actual motor velocity.
Behavior:
Monitor each drive motor's .velocity(rpm) or .actual_velocity() in real-time.
Compare the commanded velocity (target) to actual velocity.
If a large difference (slip) is detected, reduce motor power to that side or smooth acceleration.
Inputs:
motor::velocity(rpm)
motor::spin(forward, speed, pct)
Optional: inertial::rotation() for heading correction.
Output:
Adjust power to motor(s) during runtime to limit slip.
Optional: Print debug values to Print Console.
✅ 2. Stability Control
Purpose: Maintain directional stability during movement, especially turns, by monitoring yaw and adjusting motor power to reduce undesired rotation or tipping.
Behavior:
When driving straight, compare initial heading to current heading using inertial::heading().
Apply proportional correction to motor power to maintain heading.
Optionally, use inertial::pitch() or inertial::roll() to detect excessive tilt (for anti-tip).
Inputs:
inertial::heading()
inertial::gyroRate(zaxis) or inertial::rotation()
inertial::pitch(), inertial::roll() (anti-tip feature)
motor::spin(...)
Output:
Dynamically adjust left/right motor speeds to maintain heading.
Limit turn rate to avoid instability.
Optional: throttle or halt motion if tipping is detected.
🧰 Hardware and APIs Required
motor — for reading velocity and applying corrections
motor_group (if using grouped motors per side)
inertial — for heading, yaw rate, pitch, and roll
Timer or thread — for time-based sampling loop
🎯 Goal
Implement a basic ABS-like braking system using motor velocity feedback to prevent wheel lockup and maintain control during hard braking.
🧠 Functional Breakdown
✅ 1. Detect Braking
Detect when robot is decelerating quickly or entering a braking phase.
Watch for motor power dropping to 0 or .stop() being called.
✅ 2. Monitor Motor Velocity
Use motor.velocity(rpm) to sample each drive motor.
If actual velocity drops sharply (e.g., >300 rpm in <50ms), assume wheel lockup is occurring.
✅ 3. Pulse Brake / Modulate
Cancel motor.stop() and instead manually modulate power:
Temporarily set low reverse power
Or alternate between coast and small brake cycles
cpp
Copy
Edit
motor.spin(forward, 0, pct); // slow stop
wait(10, msec);
motor.spin(forward, 5, pct); // tiny push
✅ 4. Maintain Stability During Braking
Use inertial.heading() to ensure robot is not spinning while braking.
Apply differential braking if needed (e.g., left side locking, right not)
🧰 Hardware and APIs Required
motor::velocity(rpm) — to detect sudden velocity drops
motor::stop() and motor::spin() — to modulate braking
inertial::heading() or gyroRate(zaxis) — to detect unintended rotation
Timer or thread — for periodic checking
Optional: Print Console — for logging velocity changes
✅ Acceptance Criteria
✅ Motor lockup is detected within 50ms.
✅ Braking power is pulsed or modulated instead of instantly stopping.
✅ Robot maintains heading during braking (no spinning or tipping).
✅ Code runs on-device, with no external dependencies.
(Optional) controller and Print Console — for debug info and manual control
🧱 Constraints
The robot is a tank drive or 4WD configuration.
The AI should not use any external libraries or internet access.
Only VEX V5 C++ API should be used.
Must run entirely onboard (autonomous-capable).
Modular and non-blocking if possible (use threads or non-blocking loops).
✅ Acceptance Criteria
✅ Traction control detects motor slip and adjusts power.
✅ Stability control holds heading during forward motion.
✅ Anti-tip behavior reduces or stops drive if pitch/roll exceeds safe bounds.
✅ System runs continuously during autonomous or driver control mode.
✅ Code is clean, modular, and well-commented for future tuning.