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Unread 09-12-2013, 07:24
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Re: Team 2471 swerve drives

Quote:
Originally Posted by yash101 View Post
This is partially off topic, but if you were trying to lock direction/orientation using a gyro or accelerometer, would you use a coprocessor or would you use the cRIO? Don't you need to continuously monitor it to make sure that the results are accurate? Also, what about some mechanism that works like an array of optical mice? I guess that the FPS would be a tad high for the mice sensors, but it should be able to gather movement!
You would use the cRIO. The cRIO is perfectly capable of doing all the math fast enough for any FRC task excluding vision. We've played with the loop time to see how the responsiveness changes, and you can't tell the difference between 20 Hz (50 ms loop time) and 100 Hz (10 ms loop time), both of which the cRIO can do easily. Once you start going faster, you don't gain anything. The mechanisms themselves don't respond fast enough, the motor doesn't have enough torque to make a noticeable change in 1/100th of a second.