Would Someone mind looking over my autonomous.

[mesamb1]

I sympathize with your clean code and the NI rep. I make all of my students clean up their code so often they complain labview is more about being organized then knowing computes(but with good comments they can fine problems right away ) .

Our team did PID controllers for giggles this season. I am a C.S. and Math person working with a professional automation engineering mentor, so nerdy enough to read the NI manual on PID. The controller actually wants a percent. It just the difference between set point, and process variables(there is more then that, but it is a little more complicated then you can explain over a forum). I dont think it will help your drive issues, but if you send the PID a percent and give it a range between 100 to -100 then divide by 100 you will get a much better motor curve.

How did you go about setting your PID gains?

Please combine those three sets of loops, there is no reason you should separate them, and your timing becomes precise, and since your not driving off of floor sensors then you need that to be right!

The variables could cause the sporadic driving. I do not think they are, but what will save you a lot of trouble is if you place the arm movement part in a subvi. then call the subvi with the the two set points that you want in the arcade drive loop(the subvi will make your telop cleaner too!!)

As a member of the smoky mountain planning committee I hope you had a great time!! thanks for coming to Knoxville!

[Travis Hoffman]

Thanks to all so far for providing help. Jordan is the hardest-working programming student we have in these here parts, and he's learned far more about LabVIEW than I'd ever care to learn. I'm expecting him to teach me and other NEOFRA students and mentors this offseason, once he's done figuring it all out.

Until then, I shall remain comfortably in my faster compile and download C++ fantasy land! Tra la la....

[j.cole]

Yeah she helped me a lot and I appreciate all her work it was just kinda throwing me off. She spent a lot of time over with us lookin at the code.

I never thought of leaving it at 100 & -100 but that's a good idea. I haven't had any problems with accuracy but if I do I'll keep that in mind.

I made a graph on the front panel of the teleop with the setpoint and the process variable. Then we had a mentor there that could look at the graph and figure out what needed to change in our gains also we left out a I because it's dangerous and unnecessary. So basically its a visual tune.

As of now I'd rather not recombine them because I wanna see if it works first.

That's what I'm thinking for why I'd rather not recombine them.

Knoxville was a lot of fun and I think all of the teams were surprised at how smoothly everything was going I think all of our other students said they liked it too. I'd like to go back in the future but it probably won't happen while I'm a student.

[mesamb1]

Well thank you so much for joining us for our rookie regional. Glad to hear you guys liked it!!

I, personally, had expected multiple field failures, but the nice thing about being week 5 is that the field techs have all of that stuff under control.

[Travis Hoffman, you have a great student! it is really done well and is particularly ambitious with out a labview mentor, but I shake my fist at your c++ compiler]

I would argue about the I variable(if it was giving dangerous results, you could be seeing some round off errors there), but that is as good as anyway to tune it.

If you have the time tonight(you may be swamped). In a very separate folder from your normal code(careful not to get a dependency error in your main code) just recreate your autonomous code in a subvi(just download the file you uploaded with a new name, and create a global variable file in the folder). then get rid of all of the motor references, and just set the arm to always be where it is desired. Then graph the drive output. It is not slick but it will give you a timing idea of how long things are being run. If your code is waiting for a variable, not running at the same time, ect. that will show up in the graphs. Far from the way you SHOULD test it, but it is a sans-robot way you CAN test it

[Travis Hoffman]

Originally Posted by mesamb1

[Travis Hoffman, you have a great student! it is really done well and is particularly ambitious with out a labview mentor, but I shake my fist at your c++ compiler]

Jordan is on Team 379. I just hang out at their shop and harass them from time to time.

You were right about the "great student" part, however.

[j.cole]

Thanks for all the help guys i prolly shouldave listened to you guys in the first place about combining the while loops because I was having trouble on thursday and the NI Rep (i never got his name cool dude, are all NI reps awesome?) told me to combine them and it worked. Aside from that it works as it should (it likes to veer right but that's a physical problem)