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Re: Concept Discussion: Vision Closed Loop or Encoder/Gyro PID based Closed Loop?
100% gyro/encoder closed loop.
Trying to do PID on pixels is a recipe for tears and frustration. You will likely not have enough resolution to do proportional control without overshooting, let alone have a good derivative value.
Also, resolution isn't the only issue - you'll have some lag in your vision, which will hurt a ton if you want to go at a reasonable speed.
If you have the resources to do vision, you have the resources to do the angle conversion from the vision program to the gyro. It's not hard - last year we just did an empirically found scaling factor. It took about 20 minutes to get the scaling factor. You need some sort of controller either way, so finding the scaling factor is basically the only "higher level arithmetic" that you need.
You can get away with doing vision based feedback if you align slowly, but in general, that isn't an option for us (especially last year - our two ball's main speed issue was with vision alignment). It's not significantly harder to do gyro based alignment, so why not do it?
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Originally Posted by The programming team
Define "works."
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