|
Re: Programming Issues with Crab Drive System
If you are using the Jaguars over the CAN interface, you may be able to read the current being drawn by the motors with your software. Alternately, you can measure the current in the steering motor by putting an Amp meter in series with the motor.
Compare the current on both sides (Ideally with two meters) with and without the steering chain. This will help determine if the motors are not responding similarly, or if you have a mechanical assembly issue on the tight side.
If you are using the CAN interface, you could also consider using the encoder function, and possibly having the Jaguar do the PID control (I am not certain it has this function, but I thought it does). This would require switching to a quadrature encoder, IIRC.
__________________
Student FRC23 (1996-1999), Mentor FRC246 (2000), Mentor FRC1318 (2007-2009), Mentor FRC93 (2011), Mentor FRC2151 (2012), Mentor FRC23 (2013), Mentor FRC4761 (2014-2017)
1998 - National Chairman's Award and Woodie Flowers Award (FRC23, Mike Bastoni  ) | 2007 - PNW SF (488, 1595) | 2008 - Oregon RCA - Seattle #2 Seed, SF (488, 1696) | 2009 - Oregon #1 Seed, Winners (1983, 2635) - Seattle SF (945, 2865) - Galileo #2 Seed, SF (973, 25) | 2012 Midwest F (111, 71) | 2014 RIDE Winners (78, 125), Inspector - NEU #24, QF (3479, 3958) - NECMP #35 | 2015 Reading #11, SF (1058, 190), Inspector - RIDE #17, QF(4055, 5494), Inspector - NECMP #57 | 2016 Reading #4, SF (133, 4474), DCA, Inspector - Ride #22, SF (1735, 2067), Creativity, Inspector - NECMP #48, RCA - Archimedes
|