[rjn]

We created a prototype traction-control code, however, we aren't sure if it is a problem with encoders in begin or if it is a problem with teleop, which is why after pain-staking hours of attempted debugging, and deciding it would be better than making ten million screen shots, here is our project.


The way the teleop works, although I added some comments, it might now have been enough/they may have been deleted, is the expected velocity value based on the joystick and compares it to the real value of velocity based on the accelerometer and corrects the values accordingly through a pid and gives it to the jag, it is also corrected for motor bias using encoders and ratios, which is that code node and the a and b wires. Please take a look, and I know I didn't do a very good job explaining, but that is because there is a lot, but I will be very actively checking the thread and answer every single question, our coders are quite confused. : s


dteleop is our traction control teleop, and some of the sub vis may be un apptly named.

Fred is where all the traction control occurs, vpid is the velocity pid and uh, yeah, have to run. Thanks for all the help.