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Unread 15-01-2017, 02:34
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FRC #1197 (Torbots)
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Re: Shooting Motors and wheels

Quote:
Originally Posted by YashBrowns View Post
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".
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2003-2007: FRC0330 BeachBots
2008: FRC1135 Shmoebotics
2012: FRC4046 Schroedinger's Dragons

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