Quote:
Originally Posted by Ether
You didn't mention in this thread what motor controller you are using. If you are using a Jag via CAN, at least consider using Voltage mode instead of %Vbus. This will compensate for varying supply voltage.
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You can also do similar compensation in the cRIO by scaling your command based on the battery voltage. A member of team 1986 outlined their specific method of doing so in one of these PID/shooter threads somewhere.