Quote:
Originally Posted by Jared Russell
I agree that a motion profile + feedforward to overcome static friction can solve this problem adequately for FRC purposes. However, the Talon SRX makes precise 1KHz velocity control stupidly easy to achieve; hiding the stiction nonlinearity behind a Talon and using plain old position PID is just as workable a solution these days. (But is still improved by using a motion profile of course)
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We found success using a velocity PID loop on the roboRio, and in retrospect we should have run the velocity PID loop on the talon. The main issue we were trying to solve was left/right sides moving at different speeds when given the same input, which a motion profile would not solve alone.