Quote:
Originally Posted by cpapplefamily
We are using a CANTalon and have tested the "setVoltageRampRate" but it seems to play badly with position overshoot.
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This is one of the classic problems that people run into with controls. The math behind most control loops assumes that the loops and system are linear and time-invariant. That can essentially be boiled down to meaning that your system can be simply modeled as an ordinary differential equation. You can't model taking the output of your PID loop and doing a voltage ramp on it as an ODE. I'd recommend only doing operations that can be modeled with differential equations (or constant coefficient difference equations since we are actually operating in discrete time) in your control loops.
In this case, that would be doing a current loop and limiting the current, or feeding a motion profile into the talon (or from outside the talon). There are other methods that also work, but they won't work without being able to modify the firmware on the talon.