pic: Sparto the Waldo

[apalrd]

If I were to program it, I would probably:

1. Take the inputs from the Cypress board (in Teleop.vi) and scale them to some sane units (degrees, radians, etc.), probably by taking the volts in, subtracting a known centerpoint (0 would probably be straight out or vertical, you pick but be consistent), and then multiplying the volts from center by a constant.

2. Send the scaled numbers off to another thread to be processed

3. Said other thread would take the units, and lookup the appropriate scaling on this robot (meaning, the competition or practice robot), and take the analog sensors on the robot and scale the inputs to the same units (with the same 0-point)

4. A P-controller would run in said thread, taking numbers of sane units from 1 and sensors of same sane units from 3 and determining the motor output for each joint. I have actually never used anything but P, because I have not yet found the need for any other terms.

If you do a lot of trig processing (maybe for gain scheduling or elsewhere), storing the value in radians makes everything cleaner. If you want to use stored positions (say, for autonomous), you can store them in radians, so if the sensor calibration changes, it doesn't affect any other code.