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Re: Gyros in place of potentiometers?/Gyro intergration with jaguars
Regarding the Jaguars -
Assuming that you intend to do PID wheel speed control inside the Jaguar (which is a fine distributed processing architecture), the Jaguar must be connected to the cRIO via CAN (not PWM) and the encoder is connected directly to the Jaguar.
I strongly recommend doing a CD search for old threads on PID and Jaguar for more info. Velocity loops are tuned differently than position loops in that the loop must integrate the encoder error to get the control velocity. The recommend method of tuning is to start with P=0, I=small, D=0 and increase I until just before speed is unstable. Then increase P to further improve stability.
As mentioned in post 2, the gyro outputs angular velocity and I don't believe it will interface directly with the Jaguar. The standard WPI mecanum code I believe does handle the gyro for you on the cRIO, but I have never used that code. The WPI code may also assume that the encoders are hooked to the cRIO and not the Jaguars - you will need to verify that first.
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