Quote:
Originally Posted by krieck
Is this really a common task? I'd be very interested how others have combined PID logic within a subsystem.
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We have often implemented drivebase position and heading as feedback-controlled parameters in autonomous. I can only remember one year that we made it available to the driver in teleop, as an optional "bulldog mode". It was occasionally useful when trying to hang tubes on the Rack & Roll spider legs in the presence of strong defense.
The way we did it, the PID computations were separate, and their outputs were mixed to send to the motors in the manner of arcade joystick control. For the RobotBuilder scheme, perhaps the "speed" and "steer" can be considered distinct subsystems that don't actually control motors, but instead just set global variables. The final "chassis" subsystem will have a background command that controls the motors based on reading the variables.