For those of you using the SetVoltageRampRate(double rampRate) function, any suggestions on what an appropriate rampRate would be for the typical FRC application?
The header file just says:
Code:
@param rampRate The maximum rate of voltage change in Percent Voltage mode in V/s.
We are using one CIM per AM Toughbox (with the standard gearing) to direct drive a mecanum wheel. We mainly just want to prevent voltage spikes due to fast reversal of the wheels while running in PercentVoltage mode. We are currently using a rampRate of "24", figuring that would allow full forward to full reverse (or vice versa) in no less than one second, and that seems to work well. However, I was wondering if anyone else had any better ideas?