Quote:
Originally Posted by Ether
How did you close the loop on current? Did you use a Jag in current mode to drive the motor? Or did you have a current sensor and close the loop in your cRIO code?
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We tried both methods. We used CAN, so we had a loop on the cRIO for SVR, and used the Jag current loop for nationals. One concern with using the Jag in current mode was that we wouldn't be able to feed forward our drivetrain commands to the roller. (Backup tended to rip the ball out of the roller.) The solution to that ended up being to add the feed forward to the goal of the current loop.