Thread: Programming tricks (and former trade secrets)
View Single Post
  #26   Spotlight this post!  
Unread 21-02-2007, 23:07
Andrew Schreiber Andrew Schreiber is offline
Joining the 900 Meme Team
FRC #0079
  
Join Date: Jan 2005
Rookie Year: 2000
Location: Misplaced Michigander
Posts: 4,069
Andrew Schreiber has a reputation beyond reputeAndrew Schreiber has a reputation beyond reputeAndrew Schreiber has a reputation beyond reputeAndrew Schreiber has a reputation beyond reputeAndrew Schreiber has a reputation beyond reputeAndrew Schreiber has a reputation beyond reputeAndrew Schreiber has a reputation beyond reputeAndrew Schreiber has a reputation beyond reputeAndrew Schreiber has a reputation beyond reputeAndrew Schreiber has a reputation beyond reputeAndrew Schreiber has a reputation beyond repute
Re: Programming tricks (and former trade secrets)
This year we have decided to give every motor on our robot its own structure. This allows each motor to have the several constants it needs for our two PID functions. Every motor is going to be controlled by the position PID and the drive motors will be controlled with the velocity and position PIDs. All the PIDs are designed to work with any of the motors.

To help us figure out the constants we are working on a terminal program (similar to kev watson's that was used with the camear) and a nice interface for it. This is mostly just for fun though.

Oh, and using the PID functions in the arm we have written code to allow us to specify the (x,y) position (in front of our arm's current rotation) and have the arm calculate the angles it needs to reach that position. I think its called Inverse Kinematics.