View Single Post
  #10   Spotlight this post!  
Unread Today, 20:43
elijah1111's Avatar
elijah1111 elijah1111 is online now
Registered User
FRC #4601 (Circuit Birds)
Team Role: Programmer
 
Join Date: Jan 2017
Rookie Year: 2015
Location: Ohio
Posts: 26
elijah1111 is an unknown quantity at this point
Re: CIMs, Weight, and Max Speed

Quote:
Originally Posted by bc414 View Post
We are indeed using encoders. We are using Team 254's TrajectoryLib found here: https://github.com/Team254/TrajectoryLib
The algorithm calculates smooth position and velocity curves in order to get the robot to follow a smooth path. As the robot follows the path, the algorithm compares the position measured by encoders to the theoretical position and adjusts motor output accordingly.

The reason I'm asking about maximum velocity is because the algorithm requires the maximum velocity of the robot in order to generate the path and to set the motor outputs correctly.
This seems a little overkill compared to just straight encoder values? what are the advantages?
Reply With Quote