Quote:
Originally Posted by StrMNX
1. How would you handle an output to multiple motors?
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For CAN Talons you can put one or more into "follow mode". That said, we never bothered with a y-cable in two motor configuration either. We would just set both motors in code to the same value, it was never a problem.
Quote:
Originally Posted by StrMNX
2. I've studied up on the methods of tuning (Ziegler-Nichols) and i'm aware of how to properly tune the loop, but what are your starting value for the constants? like people say "increase P Gain until it oscillates", but what is a good starting point for the P Gain, I Gain, and D Gain?
Thank you for your time
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Set I and D to zero. For your initial P you can just guess or do a little math. Based on the 2/3 motor question I am assuming this is a drive train, and I am going to assume you going for a distance PID. Using your max error (which is going to be the longest distance you will be going), a reasonable swag would be 0.7 / that distance, but if 0.7 of your max accel is too strong, set it lower. Feel free to go up and down in pretty large increments. I always test first on blocks and generally with a max power limit set to ~.3 just as a sanity check (are the wheels going the right direction, the same direction, etc).