[riftware]

Thanks - that appears to be helpful. On the position front we weren't using the quad encoder (we have them though) we were using a pot that we hooked directly to the roborio - It was painful trying to arrive at the correct parameters to prevent oscillation or error on the steady state. This year I bought an absolute position encoder - we only used position on the motor that was raising/lowering a lifting arm. I suspect your example will work well with the absolute encoder.

I'm taking this week to go back through the programming doc's - last year we had mechanum wheels and I hadn't figured out how to make use of the encoders properly with the robot drive in mechanum mode. I doubt we're going to use mechanum this year but I may still try to solve that so that we have it in our toolbox so to speak.

My goal this week is to integrate a few things like an example autonomous mode that will take a tank or arcade drive, drive it forward 10 feet, pivot 90' right, Go forward 10 feet, and so forth - try to create an acurrate box pattern. I'll post back any specific questions I hit - usually when I am doing this sort of thing I'm bogged down at work and trying to figure it out with the team working 6 days a week. Doesn't give me much time to methodically work through things. This year I have my own RoboRio at home that I can work through things in peace and quiet so that I have a better understanding when working with the students. Once I get that working I'll have to figure out if we need to integrate a gyro into the equation.