Last minute autonomous help

[PriyankP]

Originally Posted by alexhenning

I have two encoders hooked up to jaguars running CAN one for the left side and the other for the right side. The autonomous does P (No need for ID) so that it slows down as it gets closer until it hits the wall going pretty slowly. This runs reliably as long as it's lined up and the left and right sides act the same. i.e. You jam both joysticks forward and it actually drives straight-ish.

I was thinking of putting on two encoders to get the base to stop within 6 inches of the target distance without overshooting and without travelling slowly. Not sure if that's possible yet because we don't have encoders on the base yet but I would imagine I'll need I and D. The biggest problem that I'll have is momentum because I plan on running the auto at close to full speed.

If you don't mind, can you please send me the code that has to do with your base? I'm sure I can learn from it as I can't find many resources that explain the concepts. :O