Quote:
Originally Posted by Ether
The Set Motor Speed VI is a mis-nomer. It doesn't set motor speed, it sets motor voltage (via PWM). Under certain idealized conditions motor speed will be proportional to motor voltage, but this is rarely the case with the motorized applications in FIRST. That's why it is not accurate.
If you want closed-loop speed control, you can run the encoder signal to the cRIO and create your own PID control or use a library function. Or, use the Jaguars instead of the Victors. The Jags have built-in closed-loop speed control if you command them via CAN bus and feed the encoder signal directly to them. Which raises the question: has there been a clear ruling from GDC whether or not this is permissible?
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Yes, it is legal. The rules are very clear that the Jaguars' CAN functions are very legal this year.
Summarized, the rules are:
1) If you drive a Jaguar with PWM, pretend it is a victor (no fancy inputs).
2) If you drive a Jaguar with CAN, don't plug in PWM, but have fun with everything else.