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Re: paper: FRC #33 The Killer Bees 2013 Software - BuzzXVIII (Buzz18)
Those graphs definitely show improvement over the years.
I've always liked to feed forward as much as possible for best transient performance. The P-I-FF design feeds forward the steady state output (FF), corrects for steady state errors with I, and handles transients with P (what the D term in a 'normal' position PID would do). FF can be implemented as a math model, curve fit, or lookup/interpolation table. I agree that mechanical engineers tend to solve problems mechanically, as a controls engineer I disagree with this approach. |
Re: paper: FRC #33 The Killer Bees 2013 Software - BuzzXVIII (Buzz18)
Quote:
As far as the open field maneuvers- I love it. It allows me to change directions quickly, which often lets me ditch defenders without shifting into low and slowing down. The arcing turns and quickturns were extremely useful when navigating around the pyramid, and I could use either depending on the attack angle. In regard for lining up, I tend to use quickturn (I use it more often than Palardy and Culver designed it for, but it works) paired with a hard stop on the arm to zero against. At the beginning of the season before we installed the hard stops it was pretty squirrely to line up, but that has improved since I've gotten more comfortable with it. With pushing matches, I usually just shift into low and use quickturn to spin out of them. Overall, it's a pretty flexible drive system. As a newer driver, I loved that it made me less choppy and inconsistent. I'm definitely planning on using it again next year. |
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