Quote:
Originally Posted by Jonathan L.
There is not a ton of difference between the PWM signals used for different motor controllers.
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Except Jaguars. Talons and Victors and SPARKs and SD540s are practically interchangeable unless you're working at the edge of the envelope, but Jaguars use a different span of pulse widths than the others; be sure that you use the jaguar objects to control jaguars and talon objects to control talons. Calibration of the motor controllers is particularly important if you do NOT have an encoder on each wheel; if you are using encoders*, this should automatically compensate for any minor mis-calibration.
* I have read posts of teams who depend strongly on feed-forward and provide high values for P and D in their PID loops but leave I at zero, even for velocity control. I am not sure through any experience if this statement is true if you use the encoders this way, but my back-of-the-envelope figuring seems to indicate that this would still compensate for minor mis-calibration.