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Re: Team 254 - 2014 FRC Code
I have a few questions about the Flywheel Controller used on Barrage.
I am trying to understand the states you used to control the flywheel and have gathered the second element is the velocity, but I am having difficulty understanding what the first element is. Looking back on your 2012 code, the first state seems to be a position that is taking the place of an integral term and I am guessing a similar set up was used in 2013 and 2014. Is this correct?
As I was looking for what the first element of the flywheel state is, I came across a line that was writing part of the desired state matrix.
Code:
r.set(0,0, (velGoal * (1 - A.get(1,1)))/ A.get(1,0));
Could anyone clue me into what is being predicted here?
Lastly, what method do you use to find the gains for the matrices and select the poles that will be used?
Sorry for all the questions.
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2016:
Alamo, Bayou, and Lone Star Regional FTAA
2015:
Dallas, Alamo, Bayou, and Lone Star Regional FTAA
2014:
Alamo, Dallas, and Lone Star Regional FTAA
Alamo Regional Robot Inspector
2013:
Einstein Champion and 2013 World Champion (Thanks 1241 & 610), Galileo Division Champion, Razorback Regional Winner, Alamo Regional Semifinalist, Bayou Regional Semifinalist, Lone Star Regional Quarterfinialist
2012:
Curie Division Semifinalist, Lone Star Regional Finalist, Bayou Regional Winner, Alamo Regional Winner
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