Quote:
Originally Posted by AustinSchuh
Ok. Now you have me interested. Could you explain your logic?
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The Jaguar has several interesting features aimed at tighter control loops. Unfortunately, only some of these will be useable this year.
1) The speed vs input command is linear. The Victor is highly non-linear, which prompted many teams to wrap a linearizing function around it.
2) The update rate is faster.
3) The chop rate is much faster.
* Features not yet accesible to teams *
4) The processor in the Jaguar is about an order of magnitude more powerful than the entirety of the old control system in terms of raw math throughput.
5) Direct quadrature encoder input
6) Analog input - for POTs?
7) True voltage control - This translates to direct speed control.
8) True current control - This translates to direct torque control.
9) High speed serial (CAN) communication to the cRIO which will allow you to send higher level commands
10) On-board PID loops.
http://www.reuters.com/article/press...08+PRN20080805
I'm excited.