Thread: DriveTrain Ramp Up
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Unread 04-12-2013, 21:25
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Re: DriveTrain Ramp Up
Quote:
Originally Posted by ming08108 View Post
The hardware team said that the drive motors should ramp up instead of going whatever speed the driver pushes because it draws too much current.

I have read a bit about PID loops (don't fully understand them) and something about jaguars having hardware PID if you use CAN.

I was wondering what the best way to implement this ramp up is and how fast a good ramp up rate is.

Our robot is using Jaguars for the drivetrain and Java command based programming.

Code is here:
https://bitbucket.org/ming08108/eastbots-java-code

Any help is appreciated.
If you're using a normal drivetrain, you don't need to do this. The FRC control system is capable of providing a lot of current to the drive motors during quick acceleration. Ask your hardware team why they think they need to do this.