Quote:
Originally Posted by sumadin
Your idea detailed last page is also very interesting. I think it's important to decide what your goals are - lowest time to reach the target or reaching it smmothly. I don't know yet which will seem more important for this year's challenge, but until now I am tempted to say that the time it takes to go from position a to position b might be more important than the smoothness, particularly for a servo or autonomous position control. However, I am wondering about human controlled velocity PID - would you rather have a slight overshoot as you attempt to reach the target velocity, or would you prefer to reach it slower but more smoothly, perhaps taking a bit longer to get there.
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Really the need for smooth control came around last year when our (mostly) greenhorn drivetrain team decided to use two wheel drive on the robot, but still put two CIMs on each side. Definitely not a recipie for success. To keep from getting totally disoriented, I
had to have controllable acceleration, or else the robot would spin its tires and I'd end up feet short of where I was supposed to be. Not to mention, analog encoders can sometimes get a little messed up when you go around slamming motors into reverse all of a sudden when there's a large mass coupled to them... talk about a gigantic EM field.
On the human control side... has anyone actually implemented this with success in competition? I've found that drivers always say it 'feels wierd'... so usualy what ends up happening is I write code so that if the robot has neutral control input for a set period of time, a servo kicks in to hold it in that spot. Has anyone successfully implemented this?
Wow I can't wait to see what the challenge is... I really hope it's more exciting that the game last year...
-q