Quote:
Originally Posted by vinharish7
.. I want to know how to limit the Volts/sec on our Mecanum drive motor controllers. We are using CANTalons, we're programming in Java--Command-Based, and we have implemented the setVoltageRampRate() method. That works pretty well to prevent the robot from zooming to a really high speed or stopping abruptly (which would cause totes to fall!) but the problem is driving is much tougher as drivers have to account for the time it takes for the robot to decelerate, making our positioning senses go out of whack.
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Perhaps you can call the setVoltageRampRate() function every time you change the target voltage -- to a lower value when increasing speed and to a somewhat higher rate when reducing speed.