View Single Post
  #32   Spotlight this post!  
Unread 04-08-2015, 23:36
BenGuy's Avatar
BenGuy BenGuy is offline
Co-Driver - 3641 - Flying Toasters
AKA: Ben
FRC #3641 (The Flying Toasters)
Team Role: Operator
 
Join Date: May 2014
Rookie Year: 2014
Location: South Lyon, Michigan
Posts: 219
BenGuy is a glorious beacon of lightBenGuy is a glorious beacon of lightBenGuy is a glorious beacon of lightBenGuy is a glorious beacon of lightBenGuy is a glorious beacon of lightBenGuy is a glorious beacon of light
Re: Elevator Motion Profiling / PID Ramping

Quote:
Originally Posted by Aero View Post
Our elevator is way too fast.

We're currently using a standard PID loop, but it accelerates ridiculously quickly and throws totes.

I've looked into motion profiling, but can't see an easy way to (quickly) dynamically generate profiles between two arbitrary points on our elevator.

Is motion profiling the best solution here, or is there a simpler way to stop our elevator from accelerating too fast?
I have another stratagy... Our team had the same problem when we used straight PID, that it was way too fast. We solved it with about 30 seconds of coding though. (I'm not the team programmer but do know a good amount about it so this is my best pseudo code impression): If error (in PID) > .35 then set speed to .35 This worked out great and we have used it since. Before trying to go with motion profiling, I would try this. It caps the max speed to .35, when the error finally gets below that, it decelerates like normal.
__________________



Ben Wolak
The Flying Toasters Website

Team YouTube
Team Twitter

The real problem with computers is that they do what you tell them to do, not what you want them to do.