Forum: Extra Discussion
Today, 03:01 AM
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Replies: 1
Views: 433
Re: pic: 1747 2017 Prototype Drivetrain Relesase
Connect the top flanges for the two pieces of sheet in the side rails. That'll make it massively stronger. Box sections = good. You can then cut lightening and access holes back in. We cut square...
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Forum: Control System
Today, 02:39 AM
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Replies: 5
Views: 336
Re: Full State Feedback Question
Having a fast, ideal system helps a lot.
For a controller without integral or of type 2) or 3), you need a feed-forwards term . You can see it in your third plot. There is a small steady state...
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Forum: General Forum
Today, 02:16 AM
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Replies: 35
Views: 5,080
Re: WCP: 2017 Product Launch + MCC 2017
GT2 is stronger than HTD by a large margin. The Gates precision and light duty manual is a really good read, though it can be a bit boring.
For something as critical as a drivetrain, I'd be...
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Forum: Control System
01-01-2017, 06:24 PM
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Replies: 5
Views: 336
Re: Full State Feedback Question
Won't trajectory tracking require feed forwards as well? Maybe that's a side effect of how I've been formulating our controllers.
U = K (R - X) + FF(R)
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Forum: Control System
01-01-2017, 06:18 PM
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Replies: 5
Views: 336
Re: Full State Feedback Question
To start with, I'll first caution you to actually see if you need integral first. You can get pretty close without integral control, and integral adds all the issues that you've listed above. ...
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Forum: Programming
12-31-2016, 12:22 PM
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Replies: 34
Views: 2,279
Re: Drivetrain PID tuning
This stuff happens so fast that it's not worth doing it in realtime. Each test is like 2 seconds, so we end up writing scripts to copy the data back and plot it.
This is almost a whole new thread,...
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Forum: Programming
12-31-2016, 02:55 AM
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Replies: 34
Views: 2,279
Re: Drivetrain PID tuning
Pick your favorite controller. P, PD, PID, LQR, Lead/Lag, MPC, YMMV ;) I try to start with what boils down to a PD loop before I pull out I or any other terms. The input to your controller is the...
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Forum: Programming
12-30-2016, 12:39 PM
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Replies: 34
Views: 2,279
Re: Drivetrain PID tuning
Jared probably has a slightly different way of looking at this, but I think there's a more fundamental change needed first to make sure you go straight. The encoder vs gyro problem becomes much...
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Forum: General Forum
12-24-2016, 03:47 PM
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Replies: 38
Views: 2,149
Re: Belts 9mm or 15mm?
We ran 9mm wide, 5mm pitch belts in 2014, GT3 with a 3.5" diameter wheel and a 24 tooth pulley. The center wheel was direct driven, with belts to the front and back wheels. We carefully measured...
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Forum: C/C++
12-18-2016, 10:27 PM
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Replies: 3
Views: 167
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Forum: Programming
12-17-2016, 01:51 AM
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Replies: 6
Views: 738
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Forum: Technical Discussion
12-14-2016, 02:25 AM
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Replies: 24
Views: 2,003
Re: Recommendations for Restoring Router
I can't remember. Might have been VDHL. If you dig through the documentation, you can eventually find instructions on how to build a new image, or give me a holler. It took me a solid day to...
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Forum: Technical Discussion
12-13-2016, 12:10 AM
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Replies: 24
Views: 2,003
Re: Recommendations for Restoring Router
Awesome! That's what we are running. 1 ms cycle with LinuxCNC and it's working great. Ping me if you need any help. I even rebuilt the verilog to support our specific set of daughter...
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Forum: Sensors
12-11-2016, 10:29 PM
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Replies: 58
Views: 17,011
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Forum: Programming
12-10-2016, 03:21 PM
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Replies: 22
Views: 2,537
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Forum: Programming
12-10-2016, 01:54 AM
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Replies: 22
Views: 2,537
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Forum: Sensors
12-10-2016, 01:52 AM
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Replies: 4
Views: 403
Re: New 1200mm LIDAR -- VL53L0X
Ok, that's pretty cool :) Does it see the plexiglass? That's my biggest worry right now with LIDAR. Also, if there was a way to get 5 meter lidar for cheap, that would be perfect for FRC. ...
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Forum: Sensors
12-07-2016, 02:32 AM
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Replies: 3
Views: 238
Re: Gyro Mounting
971's was solidly bolted to the belly pan in order to couple the high frequency signals to the gyro, and worked great. I'd recommend coupling the gyro and accelerometer to the robot rigidly to avoid...
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Forum: Pneumatics
12-03-2016, 11:51 PM
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Replies: 48
Views: 4,891
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Forum: General Forum
12-03-2016, 11:49 PM
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Replies: 17
Views: 2,066
Re: drivers\coach selection
Seconded! We rarely field a drive team at a regional who we haven't competed with at an off-season or two. We learn an enormous amount about how they work under pressure that way and what running...
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Forum: Extra Discussion
12-03-2016, 12:04 PM
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Replies: 37
Views: 3,629
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Forum: Control System
12-02-2016, 01:16 AM
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Replies: 4
Views: 306
Re: Best wheel controller for FRC?
971 uses https://www.amazon.com/Thrustmaster-Officially-Licensed-Racing-playstation-4/dp/B00JDYMQ9C/ref=sr_1_1?ie=UTF8&qid=1408317807&sr=8-1&keywords=T80 We've been very happy with it, and are going...
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Forum: Electrical
11-22-2016, 03:09 AM
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Replies: 18
Views: 1,578
Re: Rate my Talon SRX breakout (EagleCAD)
I'm jumping in probably a bit late and I'm short on time, so sorry if you've already though through this.
Q1/Q2 should likely be a MOSFET, right? Otherwise any voltage applied to the encoder pins...
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Forum: Off-Season Events
11-13-2016, 12:23 AM
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Replies: 35
Views: 4,710
Re: Madtown 2016
Yup, and it was the correct call for the situation. I wouldn't have wanted to be a ref having to make that call.
Thanks everyone for another awesome Throwdown. We had a blast, and got to see a...
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Forum: Off-Season Events
11-06-2016, 01:51 AM
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Replies: 35
Views: 4,710
Re: Madtown 2016
Cool! We need to update Cheesy Arena on Thursday. Pat rolled back the commit which broke TBA publishing. Hopefully everything will work well.
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