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Unread 15-10-2016, 11:15
MichaelBick MichaelBick is offline
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FRC #1836 (MilkenKnights)
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Re: Position and velocity PIDControllers using same encoder

Quote:
Originally Posted by Oblarg View Post
This is the idea. As I said, it's probably completely unnecessary - but I didn't see any reason why it couldn't be done, and thought it might be worth playing with.
1836 did this for a couple different mechanisms in 2016. On the drivetrain, it helped keep the left and right sides of the drive in sync while also overcoming many of the issue with inertia during turns. We also used it on our catapult (cam fired) which made our zeroing process more consistent.
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