[Oblarg]

Originally Posted by Paul Copioli

Eli,

While your statement is true, we have found that simply putting a motion profile on your input will eliminate the need for cascading control.

To me, the motion profile (whichever you choose .. we use trapezoidal acceleration) is a more pure way to do it. We all know that if you give a step input to a motor it really doesn't behave that way so why not give it an input it really can perform.

We have found that motion profile + feedforward gain + PID work for all of our telemetry navigation needs, whether it be for driving or moving a ridiculously complicated arm.

Austin and his crew use state space, but I am too simplistic for all that awesomeness so I stick with profile + FF + PID.

Paul

We're working on motion profiling this preseason - I entirely agree that it's a conceptually better way to do it.