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Unread 05-02-2017, 23:39
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Omar Zrien
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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?
Quote:
Originally Posted by Paul Copioli View Post
Tom,
The I gain is for things like that. We use I and P for velocity control and as long as you design your gearbox / motor combo with enough headroom then the I and P can compensate...
I totally agree with Paul.

And yet... we just added a form of battery compensation in the last CTRE installer. Check out section 10.8 in the latest Talon SRX Software Reference Manual. When enabled, the output of PIDF represents a portion of a specified voltage, which is compared against the measured battery voltage, yielding a voltage-compensated duty cycle.
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