Quote:
Originally Posted by BradAMiller
The input is the potentiometer and the output is the speed controller. You need to choose PID values that scale the inputs (0-5V) to match the required motor value outputs (-1 to 1).
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We've found that analog channels use averagevalue (0-1024), not averagevoltage (0-5V), in the PID loop. Your setpoints will need to be in the 0-1024 range.
Just a heads-up about the hardware: We've used a LOT of these over the years (probably 6 on this year's bot) and have broken our share of shafts in the process. Be sure to protect them from side loads across the shaft. For our swerve modules, this meant using flexible mounts for the body, and coupling the shaft with flexible tubing
Good luck.