Team 1538 Drive Code Testing

[Jon Jack]

Today we were further improving our drive code by recalibrating our PID loops that help us counter involuntary movements.

We took a few of the biggest guys on the team and tried to push the robot, to no avail. Check out the video.

http://youtube.com/watch?v=BrcxcjWqRy4

[DarkFlame145]

very strong, really cool gearbox set up.

I don't think you'll have problems with the "bumping" rule

[Jon Jack]

The origin of this code started last year. We used something similar to help decrease the amount of control the driver needed when we were going up sloped ramps. This also helped us hold our ground around the rack, though it wasn't noticeable. The problem with this PID loop last year was that it didn't want to push back enough.

We had been working on software for hybrid and tele-operated period for a couple weeks. Today we decided to re-implement that code from last year, but calibrate the PID loop so it would resist a little more. This was the result.

How can this help us? Now we can hurdle in relative peace. We don't have to worry about someone pushing us away or into the overpass (which could lead to tipping). Also, in hybrid mode if we are being pushed around the PID loop will not only help resist when we're stopped, it will also force the robot to return to the correct position on the field with the accuracy of +/- .5".

[baop858]

That's quite impressive. Is your pid loop in the 26ms loop?