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#1
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Re: Legality of Jaguar closed-loop control modes
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#2
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Re: Legality of Jaguar closed-loop control modes
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The position (or speed) values can be read through the CAN bus (after the correct settings are loaded into the jaguar, SpeedReference for example). The voltage to send to the jaguar can then be calculated on the cRio. This does not use any of the Jaguar closed-loop modes, and so it seems legal. |
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#3
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Re: Legality of Jaguar closed-loop control modes
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But mostly this is a poor decision due to the reason Eric stated above. |
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#4
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Re: Legality of Jaguar closed-loop control modes
ok so what about the attached limit switches on the JAGS. by default ( and I don't think there is a way of turning this off) in both the PWM and CAN mode you can attach 2 limit switched to the Jag to stop the motor at both its low and high points . . am I to understand that these ports are off limits as well?
I get the desire to minimize “unanticipated surprises”, but we have had these devices for 3 seasons, CAN for 2 ( I would like to know if any one used the closed loop modes last year),and a whole range of beta tests ( not to mention the inclusion of the closed loop modes in the custom FRC Labview and Jag firmware builds). it just seams a little weird |
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#5
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Re: Legality of Jaguar closed-loop control modes
Personally I'm fine with that decision (strange as that decision may seem). It's one thing to use closed-loop control. It's another to implement it in your own code, especially if you're using PID control. I'd much rather have my team know how the stuff works, than just be able to hook it up and see it do its magic.
After all, that's pretty much what FIRST is all about. |
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#6
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Re: Legality of Jaguar closed-loop control modes
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a few years ago Dean talked about the idea that technology is something that is new to the generation. for his grandfathers generation the car was technology, for his generation the internet is technology, for this generation . . well we dont know. The point is each time we progress, the wild and amazing things of the past become base and mundane ( I would say transparent). When I was in high school ( circa 2004) it was all 15 pin analog ports and limit switches. if we wanted to do channel mixing that was like 2 weeks worth of coding, and trig for getting relitive positioning of the field, forget it!( I often wonder if those doing FIRST in 1994 would take a look at what I did in 2004 and say "well all the hard stuff is done for him what is he learning"). But now channel mixing and trig functions are mundane they are transparent, we talk about the underlying principals drop in the VI and move on. does this make the season any less hard? No work will always rise to its own level. This just pushes us to find something else thats new and interesting and exciting (technology). |
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#7
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Re: Legality of Jaguar closed-loop control modes
Raise your hand if your team will be programming and testing both methods in the unlikely case of an overturn
*raises hand* |
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#8
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Re: Legality of Jaguar closed-loop control modes
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The first programming language I learned was Z80 assembly, but I don't believe that I understood more when myopically concerned with register use than I do now when using WPIlib and can concentrate on higher-level design. |
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#9
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Re: Legality of Jaguar closed-loop control modes
You both bring up some good points. But my point was not so much about being able to learn, understand and program closed loop control or PID controllers specifically. Remember that these are mostly novice programmers. The more experience they get, the more they'll learn.
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#10
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Re: Legality of Jaguar closed-loop control modes
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My personal bias is to increase the students' understanding of the process of software system design rather than the gritty details of lower level implementation and syntax, although obviously some students do need to master the latter. This bias matches my observations of the industry where there are substantially more application programmers than system software programmers. |
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