Our current drive train design is a six-wheel with a lowered middle wheel, so I hope smoothness of acceleration/deceleration isn't a factor, as I'd like to tune the position PID to get to the postition as fast as possible, and the velocity one similarly to hit the maximal velocity as fast as possible. Assuming I can tune both correctly, I'll probably use the position PID to control the velocity one in autonomous - the position loop will send a value to the velocity loop which will compute the correct PID value. Hopefully this will work, but I first have to get our coprocessor working and then the encoders. If it does work though, it should work pretty well.
That's a very good question. We've never tried to implement velocity control, so I have no idea how comfortable our driver will be with it. I guess that if it is tuned well and he is not comfortable with it, I will just use ut for autonomous, and maybe use it situationally. To hold a position possibly like you suggest. Any other interesting ideas?
I can't wait either. I can't wait to see the challenge. Hopefully they also made autonomous as big as it deserves
