Quote:
Originally Posted by Kruuzr
Glad to hear you have some initial success. What I noticed (and you may have accounted for this in your real code) is that it does not take into account any stops you may have. Can the turret turn 360 deg? We have two stops and a pot tied to the gears to give us an absolute position. We have to use that info to slow down/stop near the ends.
Steve C.
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We have limit switches to stop our turret when it gets to either end along with hard stops. One thing I have noticed is that the way the code works on the machine is different this year it seems. I was playing around with another motor on limit switches today and it seems that the second you Set the Jaguar class the command is sent. I was handling limit switches with blanket if-then statements at the end of the teleop periodic that set the motors to zero if it would drive past the limit switches. What happened in real life was that my motors would "jitter" when the limit switch was depressed instead of just stopping.
I troubleshot this for a few hours before removing the various Set Jaguar statements throughout my code. Now I have a variable that I modify throughout the code, and only sent the actual Set statement once. I was used to nothing actually being commanded till the end of each loop and so I was used to being able to modify stuff after I had set it once earlier, but it looks like I can't get away with this now. I have no idea how this is gonna work with myPIDControllers yet but it doesn't bode well. Right now I am trying to figure out how I am gonna make sure the turret doesn't "jitter" when it gets to the limit switches. I am still using blanket if-thens at the end of my teleop loop for the turret until I can figure out some way to control my PID loop.