[billbo911]

Originally Posted by PhilBot

1629 is still tweaking. Something that annoys me about our code is that I run a pid loop for the wheels (in periodic tasks) and during the disabled period, any latent movement causes the pid to burp when restarted.

Wondering the best way to reset the pids and ramp functions during disable.

Another option is to take the "Robot Mode" from the Robot Basic Mode.vi and add it as a global. Then put your PID(s) inside a state machine(s), controlled by the "Robot Mode" global, that only allows it to run during the enabled modes.


Now as for the original question by the OP; We are!

We will be working blind, but we have a copy of the code we "finalized" before shipping, that we are satisfied with for now.

We will be adding a few minor modifications to copies of the code to: refine our autonomous, add "Alliance Color" lights on the operator control panel and lights that indicate "Tracking" to the control panel as well. We may also add a switch to the control panel to indicate to the robot what alliance we are on in the case the FMS does not provide it to us. Without knowing which alliance we are on, our robot will always track BLUE. (A little insurance is always a good thing.)