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{SECT 0 {PARA 18 "" 0 "" {TEXT -1 19 "Simple Drive System" }}{PARA 19 
"" 0 "" {TEXT -1 24 "by Yi Yao (January 2004)" }}{PARA 0 "" 0 "" 
{TEXT -1 0 "" }}{PARA 0 "" 0 "" {TEXT -1 122 "This worksheet demonstra
tes the principle behind 2 wheel drive controlled by a single joystick
 with sensitivity correction" }}{EXCHG {PARA 0 "> " 0 "" {MPLTEXT 1 0 
8 "restart;" }}}{PARA 0 "" 0 "" {TEXT -1 0 "" }}{PARA 0 "" 0 "" {TEXT 
-1 140 "The following are procedures that calculate the motion of the \+
left (L) and right (R) wheels based on the co-ordinate of the joystick
 (x, y)." }}{PARA 0 "" 0 "" {TEXT -1 47 "Make sure L and R are 8 bit u
nsigned or bigger." }}{PARA 0 "" 0 "" {TEXT -1 74 "Also realise that 0
 is full back, 127 is neutral and 254 is full forward. " }{MPLTEXT 1 
0 0 "" }}{EXCHG {PARA 0 "> " 0 "" {MPLTEXT 1 0 147 "L:=proc(x,y)\n    \+
if ((y-(x-127)) > 254) then\n        254\n    elif ((y-(x-127)) < 0) t
hen\n        0\n    else\n        y-(x-127)\n    end if:\nend proc:" }
}}{EXCHG {PARA 0 "> " 0 "" {MPLTEXT 1 0 147 "R:=proc(x,y)\n    if ((y+
(x-127)) > 254) then\n        254\n    elif ((y+(x-127)) < 0) then\n  \+
      0\n    else\n        y+(x-127)\n    end if:\nend proc:" }}}
{PARA 0 "" 0 "" {TEXT -1 0 "" }}{PARA 0 "" 0 "" {TEXT -1 159 "The foll
owing simply provides additional sensitivity for the driver at lower s
peeds. This is done by modelling the response curve to a third degree \+
polynomial." }}{PARA 0 "" 0 "" {TEXT -1 41 "The response curve is show
n in the graph." }{MPLTEXT 1 0 0 "" }}{EXCHG {PARA 0 "> " 0 "" 
{MPLTEXT 1 0 32 "smooth:=x->((x-127)/25.5)^3+127:" }}}{EXCHG {PARA 0 "
> " 0 "" {MPLTEXT 1 0 26 "plot(smooth(x), x=0..254);" }}{PARA 13 "" 1 
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Ls:=(x,y)->smooth(L(x,y)):\nRs:=(x,y)->smooth(R(x,y)):" }}}{PARA 0 "" 
0 "" {TEXT -1 0 "" }}{PARA 0 "" 0 "" {TEXT -1 80 "Feel free to test th
e final output by changing the values of the joystick (x, y)" }
{MPLTEXT 1 0 0 "" }}{EXCHG {PARA 0 "> " 0 "" {MPLTEXT 1 0 73 "joy_x:=1
27:\njoy_y:=127:\nevalf(Rs(joy_x, joy_y));\nevalf(Ls(joy_x, joy_y));" 
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