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Unread 23-03-2004, 18:10
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Mike Soukup Mike Soukup is offline
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FRC #0111 (Wildstang)
Team Role: Engineer
 
Join Date: May 2001
Rookie Year: 1996
Location: Schaumburg, IL
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Re: Need help programming our swerve with feedback?

Quote:
Originally Posted by KenWittlief
why not simply use a potentiometer on the operator interface?

then all your control loop has to do is get the feedback pot to match the OI pot

and your wheels will turn in the direction the pot is pointing on the OI - like a steering wheel?
He is using a potentiometer, the one built into the joystick. Have you ever tried driving a robot with a pot? It's not easy. It's essential to have a controller that bounces back to the neutral position, exactly like the joystick does.

The controls may not be a 1:1 mapping, in most cases for crab/swerve it is not. We map the full range of the joystick to 180 degrees of motion - full left to full right. That ends up being about 66% of the full pot range. Besides the scaling, we calibrate the crab pot such that 127 does not have to be the center position, this makes putting the pot in its place much easier.