Go to Post Start up the rumor mill... - frcguy [more]
Home
Go Back   Chief Delphi > Technical > Electrical > CAN
CD-Media   CD-Spy  
portal register members calendar search Today's Posts Mark Forums Read FAQ rules

 
Reply
 
Thread Tools Rate Thread Display Modes
  #1   Spotlight this post!  
Unread 21-01-2011, 00:26
biojae's Avatar
biojae biojae is offline
Likes Omni drives :)
AKA: Justin Stocking
FTC #5011 (BOT SQUAD) && FTC#72(Garage bots)&& FRC#0399 (Eagle Robotics)
Team Role: College Student
 
Join Date: Oct 2008
Rookie Year: 2008
Location: Lancaster
Posts: 276
biojae is a jewel in the roughbiojae is a jewel in the roughbiojae is a jewel in the rough
Re: Legality of Jaguar closed-loop control modes

Quote:
Originally Posted by taichichuan View Post
In order to use the Jaguars in one of the closed loop modes, you have to load PID values to the Jag. That would appear to be prohibited by the GDC's ruling.
The jaguar would be in Voltage control mode.
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.
__________________
FTC Team 72 - No site
FRC Team 399 - http://www.team399.org
2010 Rockwell Collins Innovation in Control Award - (Use of the CAN bus, among other reasons) Phoenix, Arizona!
Reply With Quote
  #2   Spotlight this post!  
Unread 21-01-2011, 00:42
MikeE's Avatar
MikeE MikeE is offline
Wrecking nice beaches since 1990
no team (Volunteer)
Team Role: Engineer
 
Join Date: Nov 2008
Rookie Year: 2008
Location: New England -> Alaska
Posts: 381
MikeE has a reputation beyond reputeMikeE has a reputation beyond reputeMikeE has a reputation beyond reputeMikeE has a reputation beyond reputeMikeE has a reputation beyond reputeMikeE has a reputation beyond reputeMikeE has a reputation beyond reputeMikeE has a reputation beyond reputeMikeE has a reputation beyond reputeMikeE has a reputation beyond reputeMikeE has a reputation beyond repute
Re: Legality of Jaguar closed-loop control modes

Quote:
Originally Posted by biojae View Post
The jaguar would be in Voltage control mode.
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.
While it is possible to run PID on the controller successfully, there are substantial advantages of running it on the motor controllers themselves. In particular there is less need to consider timing jitter in control loops or message bandwidth limits if using the Black Jaguar serial to CAN convertor.

But mostly this is a poor decision due to the reason Eric stated above.
Reply With Quote
Reply


Thread Tools
Display Modes Rate This Thread
Rate This Thread:

Posting Rules
You may not post new threads
You may not post replies
You may not post attachments
You may not edit your posts

vB code is On
Smilies are On
[IMG] code is On
HTML code is Off
Forum Jump


All times are GMT -5. The time now is 15:08.

The Chief Delphi Forums are sponsored by Innovation First International, Inc.


Powered by vBulletin® Version 3.6.4
Copyright ©2000 - 2017, Jelsoft Enterprises Ltd.
Copyright © Chief Delphi