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Re: bang-bang control with Talon
Quote:
Originally Posted by Tom Line
We found the same. The bang-bang sounded horrible, and had a bit of a sine wave on our graphs. This was probably a result of an update time that was too slow. It was easier to review our code from last year and implement something similar. We don't even have to retune it from practice to comp bot.
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Slow loop timing could easily cause both overshoots and undershoots.
Additionally, one of our local teams used a slightly modified Bang-Bang to resolve the "The bang-bang sounded horrible" issue. What they did was increase the "off" state drive from "0" to 30% power.
They also added a second case to completely stop the motor when not needed.
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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
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