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Re: Team 254 2013 FRC Code
Thanks to everyone at 254 for the yearly release of your software. Since you began doing this, 254 software releases have been a source of inspiration and learning for me as a programmer. I especially appreciate the style guide. I will be using it to format 399 code for release later this month.
Quote:
Originally Posted by xmaams
Could you explain the purpose of the negative inertia maths in CheesyDriveCommand.java? Is it to limit the change in PWM?
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As a user of a variant of cheesy drive, I've observed that negative inertia calculations and outputs help prevent overshooting during turns by momentarily outputting a calculated output(whose sign is opposite the actual turning direction) to help act as a tuneable brake. This makes turning on a dime and other quick yaw-axis motions a little more controllable when coupled with the rest of the cheesy drive algorithm. Cheesy drive aids controllability on robots that are fast(14+fps) and can turn quickly because of that.
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Drive Coach Team 5012 Gryffingear / Antelope Valley FIRST teams / EWCP - (2013 - Current)
Student / Driver / Programmer / CAD - FRC Team 399: Eagle Robotics / FTC Team 72: GarageBots - (2009 - 2013)
Los Angeles Region FTC FTA/CSA/Head Ref
[FF] FIRST Pick
2014 FTC Los Angeles Regional Compass Award Winner.
2017 - San Diego Regional / Sacramento Regional / Las Vegas Regional
2016 - Los Angeles Regional Creativity + Winners (1197, 987, 5012) / Las Vegas Regional Team Spirit + SF (5012, 5851, 5049) / Galileo Subdivision
2015 - Inland Empire QF (597, 5012, 4413) / Las Vegas Imagery + Winners (148, 987, 5012) / Newton Subdivision and World Champions (118, 1678, 1671, 5012)
2014 - Inland Empire Rookie All Star + Highest Rookie Seed + SF (2339, 1967, 5012) / Las Vegas Rookie All Star / Galileo Division Imagery
Last edited by Jeremy Germita : 05-05-2013 at 23:33.
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