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Unread 09-05-2015, 15:46
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Ether Ether is offline
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Re: pic: Small CIM in wheel swerve

Quote:
Originally Posted by Bryce2471 View Post
I was trying to explain one way to make sure that the swerve zero is accurate before each match. If the software just takes the initial position as zero, then your wheels will have slightly different zeros each match because the wheels won't be perfictly lined up.

I was suggesting that you could have the software take the point where the encoder would read zero as the reference for the match. That way, you wouldn't have to worry about getting the swerves perfictly lined up before each match. I'm thinking that my explanation may still not be good enough, but let me know.
It's still unclear what problem you are trying to solve and what your suggested solution ("putting the swerve slightly to one side of "Straight" before every match, so that it's "zero" would be the real zero of the swerve, to begin with") is.

With absolute encoders for steering, there are at least two common ways to deal with steering alignment:

hardware mounting calibration

Mount, adjust, and lock down each steering encoder so that each encoder reads zero when its associated wheel is properly aligned. With this approach, there is no need to align the wheels perfectly at the start of a match.

startup zero offset

During setup for each match, carefully align the wheels to their zero steering position. At startup, read and store a zero offset reading for each steering encoder, and apply that offset to the encoder reading.



Last edited by Ether : 09-05-2015 at 16:06.
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