Quote:
Originally Posted by Paul Copioli
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.
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Agreed! profiles + Feed Forward + PID is good enough for FRC. Everything in FRC can be worked down to a second order system, which means that PID is a good control strategy.
I love playing with control systems, and like pushing the limits. That being said, I don't recommend using the controllers we use unless you have a strong math background and time to learn what is going on.
The Talon SRXs have good support for all of this as well.