Quote:
Originally Posted by Jared
It means you can plug a sensor like an encoder or potentiometer into the speed controller, then, with CAN, you tell the speed controller you want to enable PID control and what your PID gains are, and it will do the PID control logic on the speed controller itself.
The advantage is that you don't have to waste cRIO processing power on PID loops and you can run them much faster. The disadvantage used to be that the only controller you could use for it, the Jaguar, was big, expensive, and not as reliable as the Victor.
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And the CAN bus was a ticking time bomb on your robot. If one device dropped out the whole bus was screwed due to CAN Timeout exceptions.
Sincerely hope that's been fixed.