|
Re: paper: Modified Bilbo bang-bang .vi
Quote:
Originally Posted by tr6scott
Tom,
Care to explain what the modification is and if it is an improvement. I have looked at the subvi, and if your vi is to be placed in the same timed structure, I don't see a major difference. I see you are going backwards, from the original .vi but not sure what else changed, or improved.
I'm not that strong in labview, so be easy on me if I am missing something obvious.
Scott.
|
Hello Scott,
I think I can explain his modifications quite easily.
I messed up in the feedback loop for the Slew Rate Limiter portion. He is sampling it in the correct location.
Additionally, his modifications are set up for a 0 to -1 range for the shooter drive command. Personally, I would have done that modification a different way, but his works, and I don't argue with success.
Now, I have posted a few different versions, each with different goals.
Are you using the Bang-Bang control? I would love to hear how it is working for you and help you modify it for optimum performance on your robot.
__________________
CalGames 2009 Autonomous Champion Award winner
Sacramento 2010 Creativity in Design winner, Sacramento 2010 Quarter finalist
2011 Sacramento Finalist, 2011 Madtown Engineering Inspiration Award.
2012 Sacramento Semi-Finals, 2012 Sacramento Innovation in Control Award, 2012 SVR Judges Award.
2012 CalGames Autonomous Challenge Award winner ($$$).
2014 2X Rockwell Automation: Innovation in Control Award (CVR and SAC). Curie Division Gracious Professionalism Award.
2014 Capital City Classic Winner AND Runner Up. Madtown Throwdown: Runner up.
2015 Innovation in Control Award, Sacramento.
2016 Chezy Champs Finalist, 2016 MTTD Finalist
|