Quote:
Originally Posted by Jared Russell
VERY IMPORTANT: Slave mode so that a single sensor can be used to control a multi-motor, multi-Talon mechanism (like the drivetrain). It was never really clear how to do this with Jaguars.
I do not think I would ever run a position control loop on the speed controller, but I can envision making heavy use of velocity control.
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According to CRE in St Louis, that is something they were/are working on. Granted, I don't work for them and we have minimal contact with them but this is one of the things we would like to see as well.
900 makes great use of CAN. We've been using it rather successfully (we think) for the last 4 years (ok, 3 but running Java in between was our own fault and we won't be doing that again). LabView was a lot easier to work with for CAN than Java was.
If we have the opportunity to beta test any of this then we most definitely will. We're eager to get started with our testing this Saturday (We're a residential high school and this week has been the first week back for the students).
Also, we've used both position and velocity control. Position is a lot more temperamental about having the correct values so tuning PID is more important, at least from our experience with it.