Run Amok Combat Robotics
The Combat Transmitter
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Q-1) Which common low-speed robot control problem can be corrected by appropriate use of the 'Subtrim' transmitter function?
A-1) With a transmitter mix, one of your drive motors may start to move a bit before the other as throttle is increased from zero. 'Subtrim' can adjust the center points of individual receiver outputs involved in the mix so both motors start to move at the same throttle point.
Q-2) If you use the 'Mode' function to switch your transmitter from the US standard 'Mode 2' to the European standard 'Mode 1' stick assignments, what will happen to your Elevon mix rotation (steering) stick assignment?
A-2) There would be no change to the steering channel. Switching from mode 2 to mode 1 swaps the stick assignments for channels 2 and channel 3, so your channel 2 throttle moves over to the left stick but your channel 1 steering stays on the right stick.
Q-3) Which specific transmitter features are needed to program a switch that will correct the robot response when it is upside-down? Can the FlySky FS-i6 do this?
A-3) A conventional menu-driven transmitter requires a minimum of four custom mixes that can be assigned to a single transmitter switch to implement an invert function. The FS-i6 has only three custom mixes and none of them can be turned 'on/off' with a transmitter switch.
An OpenTx transmitter can implement an invert switch with two lines of code in the INPUTS screen - see the Team Run Amok Taranis QX 7 Guide.
Q-4) What is the effect of adding positive exponential response to the rotation (steering) channel on your transmitter?
A-4) A positive value exponential response will increase the sensitivity of the control stick near the center of stick motion, making it more responsive. It is more common to add negative expo to reduce sensitivity for fine control.
Q-5) The servo powering your ant weight lifter has a little less range of motion than you planned for when you designed the mechanism. Which transmitter functions can help with this problem?
A-5) Servos generally have available travel range beyond the standard command limits of thetransmitter. The default 'End Point' (sometimes called 'ATV' or 'Travel Adjust') function for all channels is set to 100%, but can be raised as high as 120% to command extra servo motion. Some transmitters also allow for a greater range in their 'Dual Rate' function. Check that the servo does not bind at the ends of the increased range.
