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Unread 08-05-2012, 07:54
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More Torque!
AKA: Andrew Palardy (Most people call me Palardy)
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Re: paper: Killer Bees BuzzXVII 2012 Code

-The linear ramps are used to reduce fast shock load to the drivetrain in an attempt to reduce high current spikes (hopefully reducing main breaker heating). We later increased the ramp constants fairly high, they don't ramp much now.

-The HMI we used this year has the left Y as "Throttle" and right X as "Wheel" in the halo drive. The idea is to run an Arcade-type control with the throttle and wheel controls on different sticks. The Halo algorithm we use is a mix of 254's Cheesy Drive algorithm with some additional logic to switch to "quick turn" mode when the throttle is near 0. We also used a similar system in Occra and Vex, and all of our drivers prefer two-stick Halo over two-stick Tank.

-Simple Set is a drop-in replacement for Set Motor under these conditions:
--You can't use CAN
--You *MUST* have created the motor before attempting to set it, as this version does not check if the motor has been created properly
--I removed all of the Safety Watchpuppies
-We have had no issues with the Simple Set VI.
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