Thread: PID Speed Control
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Unread 21-01-2011, 15:55
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Trying to program the swerve drive
AKA: Alex
FRC #2421 (Rolling Thunder Robotics)
Team Role: Alumni
  
Join Date: May 2009
Rookie Year: 2009
Location: Northern Virginia
Posts: 207
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Re: PID Speed Control
Quote:
Originally Posted by BradAMiller View Post
A new release of Java was just published last night that includes very improved CAN Jaguar classes. Give it a try, should work much better.
Unfortunatly, using the PID control of the Jaguars was ruled illegal by Q&A.
Quote:
Originally Posted by http://forums.usfirst.org/showthread.php?t=16140
There is no rule that prohibits the Jaguars from reading the values from the encoders, however note that Rule R49 requires that the ROBOT must be controlled by the cRIO. In other words, commands may not originate in the Jaguar or any other controller, they must originate in the cRIO.
As my team was going to attempt a similar setup, would someone mind explaining how to setup closed loop speed control (I am really a mechanical guy who has inherited part of programming this year as the main programming student deemed swerve "too hard"). We are using java and have a operating chassis for the swerve. Currently the software "works" as designed but there are different speeds for each wheel, even when the PWM output is the same to each wheel.
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-Alex



2010 Washington DC Regional: Engineering Excellence Award
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