Team 254 2011 FRC Code

[AustinSchuh]

Originally Posted by Jared341

Thanks for posting! The attention to detail is astounding. 4 different sets of PID gains for the elevator, depending on direction and number of stages engaged?

Thanks! We had a lot of fun this year. Did you also notice the threading and how we implemented Auto mode? We use trapezoidal motion profiles for all the drive commands to generate very smooth motions. We also improved the drive code so that it is even smoother and more responsive than the 2010 code. We learned a lot and will be applying what we learned to next year's code.

Originally Posted by Jared341

EDIT: And that's before I even saw the state space controller for the drive

Drove the robot forwards for 3 seconds, spun for 3 seconds, modeled the robot from first principles, plugged in the ideal constants, fit the constants to the actual response, designed a controller in Matlab, deployed it to the robot, and it worked first try. Sooo tempting to try it for the other systems next year. I decided to model the drivetrain as MIMO. Previous attempts to model it as SISO were resulting in the bot twitching left and right a bit once it stopped due to the false assumption that accelerating one side did not result in any force on the other side.

If you or anyone else has any questions, we'd be glad to try and answer them.