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Re: Protecting against runaway PID
I would use the limit switch, along with safe mechanical stops. I believe you can poll the limit switch inputs on the Jaguars over CAN (assuming you're using it) and you could have the robot program check that periodically, if you see it set, you can tag a flag in your program, display an alert indicator on the Dashboard and switch to some kind of backup Vbus control mode or something.
I'd definitely put the limit switches in, the only way to keep a closed loop control system safe is to keep the loop closed, even if its just barely closed by a limit switch.
Matt
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Matt Krass
If I suggest something to try and fix a problem, and you don't understand what I mean, please PM me!
I'm a FIRST relic of sorts, I remember when we used PBASIC and we got CH Flightsticks in the KoP. In my day we didn't have motorized carts, we pushed our robots uphill, both ways! (Houston 2003!)
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