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Unread 08-02-2017, 15:25
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GeeTwo GeeTwo is offline
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AKA: Gus Michel II
FRC #3946 (Tiger Robotics)
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Re: Concept Discussion: Vision Closed Loop or Encoder/Gyro PID based Closed Loop?

We had fair performance with a vision closed loop in 2013 and 2014, where the goals were several times wider than they were tall, but they were easily stymied by any sort of nudge by another robot or collision with an obstacle (pyramid or wall), and it wasn't really fast (most of a second even when you were close), and didn't work well for Stronghold. It might work this year for the peg, where you drive right up to the target, but not likely for the high goal.

The past two years we're using the vision to drive wheel encoder loops. We may sanity check with an inertial system (accelerometer/gyro), though more likely that will be a driver function. Off season or next year we may go to the inertial system being an intermediate step; the slow vision controls the inertial loop at an intermediate speed, and the inertial loop controls the drive wheel encoders at high speed.
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