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Unread 24-01-2017, 17:36
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Um, I smell Motor!
AKA: Scott McBride
FRC #2137 (TORC)
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Re: Velocity Control - Battery Compensation Term

Quote:
Originally Posted by Tom Line View Post
When doing velocity control with the talon srx's, the velocity you get from your feed-forward term is going to be affected by battery voltage. Has anyone experimented or used a battery offset term to correct for this? Is it worth it?
Our experience from last year, make sure you F term undershoots the desired speed, as opposed to overshoots the desired speed. When this is true, the srx is rock solid and smooth. I would not try to compensate the F term higher after the tune. I would tune with a full battery, make the F slightly under the target, and let the PID do the work. It was a beautiful thing last year on our shooters.

The other thing to watch for, is if you are going to let the shooter wheels run down, put them in %vbuss mode, or you will pid them to 0, which will make them stop fast and with a lot of heat for no good reason.
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