My FTC teams are always focused on pushing Autonomous capabilities on our robots, so knowing how the motor controller (and accompanying software) works with encoders is something I always need to evaluate each season.
With the new hardware, this year is no exception.
I just ran some basic tests with the two most common FTC motors, to see how well new controller implements the three standard control modes on an unloaded motor. These are: open loop, closed loop and Run to Position.
The results were...(in order) Ick, Cool, D'oh!
I've posted my Summary doc (with data) here.
http://www.chiefdelphi.com/media/papers/3157
Suffice it to say, I'm disappointed in the "Run to Position" mode.
Phil.
__________________
Phil Malone
Garrett Engineering And Robotics Society (GEARS) founder.
http://www.GEARSinc.org
FRC1629 Mentor, FTC2818 Coach, FTC4240 Mentor, FLL NeXTGEN Mentor