I forgot to answer your other questions!
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I assume that you must need encoders to ensure that the motors are spinning at exactly the same speed. How would that be done?
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The state-of-the-art solution would be to implement a PID feedback control loop. What motor controller are you using? Jaguars provide an easy-to-use speed controller, whereby you plug your encoder into your jaguar and set your PID constants in code. There is also a program through which you can quickly update Jaguar PID constants for tuning. With Victors, you must implement your own speed control feedback loop, but this is still made easier by the fact that WPIlib provides us with a plug-and-play PID loop. What programming language are you using? You can see an
example implementation here. For more on PID in the FRC world, searching ChiefDelphi would probably yield good results.
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How about field-centric steering? Is that particularly difficult to program?
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I already answered this in a
prior post in this thread. But ask away for further clarification!