Quote:
Originally Posted by Necroterra
I was wondering whether I should be spit out an array of position values and then send that to a Talon SRX Positional PID controller, or an array of velocities and send that to a Talon SRX Velocity PID controller. I feel the positional control would likely be more accurate, but possibly less smooth.
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You could do both:
Put the Talon in closed-loop speed control mode.
Generate x(t), v(t) , and a(t), and use those with a
cascaded controller.
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