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Unread 12-12-2011, 15:13
AustinSchuh AustinSchuh is offline
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FRC #0971 (Spartan Robotics) #254 (The Cheesy Poofs)
Team Role: Engineer
 
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Re: Team 254 2011 FRC Code

Quote:
Originally Posted by Jared341 View Post
you would want to filter this data to preserve monotonicity
I feel the need to quote this to emphasize it. Someone on 254 this year had a huge lookup table to do just this, but, as far as I could tell, didn't filter the data. The result was a bit inconsistent, and we went back to the polynomial.

To do it really right, I want to take a victor, battery, CIM, and a dynamometer, and generate data points for various different operating points. (Use 16 speeds and 16 PWM values.) Not sure where I can get access to a dynamometer though. I have noticed that in practice, for example, if you are going forwards, and apply a tiny bit of backwards power, the entire drivetrain locks up.