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Unread 25-02-2007, 23:24
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Dave K. Dave K. is offline
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Re: Radio/RC Problems for 2007 Season

Quote:
Originally Posted by Chris_Elston View Post
I can't even imagine what that is going to do with teams that have PID installed...with the error accumulating could be asking for crash em up bash em up and it won't be your drivers fault...
See this thread for a couple different ways to see when packet loss is occuring and when the RC has disabled the outputs.

For any motor controls with an "I" term in them, you'd at least want to prohibit the integrator from accumulating additional error, otherwise when the outputs are re-enabled, the motor speed/position will jump/lunge.

For this type of system, the new RC master code actually makes the situation worse. Rather than continuing on into the wall/door/locker/ankle that the robot was aimed at prior to the radio link going down, now it will pause, accumulate error, and then accellerate into the object.
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