Maintaining perfect control of mecanums using encoders?

[BBray_T1296]

Originally Posted by Ether

Not really. More precisely, you are setting a PWM duty cycle value, which most closely correlates with applied voltage, not power.

I concur. You said what I guess I should have said, and what I meant. Power is indeed another property altogether

In the above, are you referring to the duty cycle of the motor controller's output PWM, or the duty cycle of the PWM servo command signal coming into the motor controller?

I was referring to the PWM signal exiting the sidecar (or what the code SAID was exiting the sidecar). We did some testing last year involving a CIM in a KOP CIMple box, (yeah it isn't free speed I know, but was otherwise unloaded) Victor 884, a Talon, some incremental software (push a button to add .1 to the PWM value), and a 120fps GoPro (encoders are too mainstream ).

We didn't test it while loaded but it is a fairly obvious observation that you need more "juice" when it is harder to move.