Quote:
Originally Posted by YashBrowns
We do have vision tracking though if u that's what you mean by a closed loop
|
It's not. He's talking about closed-loop speed control.
Open-loop speed control is what you have now. In short, it goes like this:
RIO tells motor: Go this fast
Closed-loop speed control is better for ranging accuracy. It goes like this:
RIO: Motor, go this fast.
Encoder: Hey, RIO, motor is going this fast.
RIO: *checks number from encoder against commanded number* Motor, I need more (or less) speed out of you.
Encoder: Hey, RIO, motor is going this fast.
Repeat.
The reason you want closed-loop is to keep the motor at shooting speed as much as possible--stuff being launched tends to slow wheeled shooters until it leaves the "muzzle".
__________________
Past teams:
2003-2007: FRC0330 BeachBots
2008: FRC1135 Shmoebotics
2012: FRC4046 Schroedinger's Dragons
"Rockets are tricky..."--Elon Musk
