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Unread 06-08-2011, 09:43
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Re: pic: Uber 3.0

Two comments:

Quote:
Originally Posted by ratdude747 View Post
...in the code, use a button/toggle to scale back the joystick inputs to create a "virtual gear"....
While this does work, you are now limiting your motors to a max of a certain power output (since you can never feed them full voltage)

We implemented something like this to create an automatic "1.5" intermediate gear, of around 9 ft/sec (low is usually ~5.5, high 12) which was automatically used when the elevator was above the score-mid height (and another "1.7" intermediate gear of about 10-10.5 when the elevator was in the score mid range). However, we implemented this as a speed request instead of a power request, so the closed-loop speed control could give the motor full power to accelerate or push. Why? Because just blindly limiting motor power gives little benefit (why not just change the gear ratio to make it correct? For a chain drive it takes a few sprockets from Andymark to correct an error that should've been found when you did the initial drivetrain math). However, limiting speed but not power allows the speed control to give full power to accelerate, and we found it useful when scoring.



Also, while I like the cheesy poofs code (and 33 re-implemented it for an off-season project), I still don't get why the code Nick pointed to (cheesy poofs 2010) has a switch for QuickTurn vs SpeedTurn. Why not just do quicktunrs when the throttle is at 0 and speedturns the rest of the time?

That said, the cheesy drive algorithm is very solid.
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