Swerve Gear Box - Chief Delphi

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Swerve Gear Box

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#13

08-27-2011, 06:05 PM

davidthefat davidthefat is offline

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AKA: David Yoon

FRC #0589 (Falkons)

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Join Date: Jan 2011

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Location: California

Posts: 792

Re: Swerve Gear Box

P= Error*Pconstant
I=((Previous Error*change in time + Error*change in time)/2)* Iconstant
D=((Error-PreviousError)/change in time)* Dconstant

output = P+I+D + 127

60 < Pconstant < 95
5 < Iconstant < 25
0 < Dconstant < 5

The time can be obtained from the FPGA

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Last edited by davidthefat : 08-27-2011 at 06:10 PM.

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