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Re: Bang Bang Control, motors, and transmissions
Quote:
Originally Posted by jreneew2
Why not include some sort of ramping? Alter the code so that the closer you are to the set point, the slower you go. We did this with our vision and rotation to angles code and it works fine.
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Like jreneew2 says, converting from pure Bang-Bang to using a loop that adds some proportional logic to the controller is one path. That is attractive, because it better matches the controller with the sophistication available in the plant/robot.
Another place to insert ramping would be to leave the Banging alone, but put something (software or physical) between the controller and the "plant" that would "soften" the bangs. When your plant is an FRC robot, this is usually pretty easy to do. This is attractive because it can protect the plant/robot from all controllers.
A software approach is inserting ramping code between the Bang-Bang controller and the motor controller (subsystems) that prevents large changes in the stresses experienced by the electronics and moving parts. The Banger would still be requesting +/-1 (or zero?), but what would get passed to the controlled equipment would be the lesser of the Banger's output, and the current_drive_signal_plus_or_minus_a_greatest_desi red_change_per_update_cycle.
Of course, because either of these ramping changes affects the system's behavior, you might need to reapply some of that theory you mentioned, using new approximations.
And, of course, the change I outlined could also affect how the plant (the robot) responds to all control signals (such as those from a human driver), depending on how/where the software is modified.
Blake
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