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#1
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Re: PID on Jaguars is Illegal
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#2
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Re: PID on Jaguars is Illegal
I have no idea why this is illegal.
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#3
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Re: PID on Jaguars is Illegal
Yea this is a poor decision by the GDC... I hope it will be reversed. There really is no reason why this should be illegal, why make us uses these advanced speed controllers that have processors and software capable of position/speed control when we are not allowed to use those capabilities. Why not just let use use a simpler/cheaper speed controller if we canot use the Jaguar to its full ability. Its not like it gives teams some unfair advantage, its makes tuning systems easier... I really don't get this one.
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#4
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Re: PID on Jaguars is Illegal
Isn't the Jaguar's PID functionality one of the main benefits of using the CAN bus?
This is a rather odd ruling. I can sort of see the logical path behind it, but wouldn't an exception (no non-cRIO motor control signals EXCEPT for the Jaguar PID) be more beneficial than an absolute ban? |
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#5
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Re: PID on Jaguars is Illegal
Just when we were going to get started with CAN.
Thanks Kevin for pointing this out, fingers crossed for a reversal. |
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#6
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Re: PID on Jaguars is Illegal
While I agree that I can't see any good reason to disallow the primary feature that makes the Jaguar an advancement over other controllers, it isn't like the cRio hasn't got power to spare.
It was a bit of trick to program four closed-loop drive motors for our mecanum drive using the old PIC based controller and I would have really liked to be able to offload some interrupts and clock cycles back then, but with what I've seen using labview on the cRio makes it trivial. Well, okay... almost trivial. Maybe the PID libraries and routines aren't as well developed in the other languages on the cRio, but in Labview it would seem unimportant where the closed-loop routine resides. Jason |
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#7
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Re: PID on Jaguars is Illegal
I haven't been following the labview encoder capabilities lately (b/c we planned to use the jags) but I remember the FRC FPGA image for the RIO originally only supported like 2 quadrature encoders. We were planning on using 5.... Gonna have to research this now. May face a HUGE design change..... grumble grumble....
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#8
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Re: PID on Jaguars is Illegal
It supports 12. Up to 4 FPGA Encoders, which use 4x decoding (interrupt on both edges of both pins) and 8 FPGA Counters, which use 1x or 2x decoding (interrupt on one or both edges of one pin).
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#9
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Re: PID on Jaguars is Illegal
Agreed. This is very disappointing. Especially after having investing so much time in supporting the closed loop modes last season and submitting the code to firstforge. I was looking forward to being able to utilize the CAN bus this year. But, with this ruling, the Jaguars have been reduced to not much better than the victors. The GDC has gutted the value of a lot of effort from folks like myself, Joe Hirshberger from NI and many others to get the best use of the Jags.
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