2012: Tuning the Jaguar's Speed Control PID Loop

Just got our robot crate back. The FedEx driver told me he was watching the robotics competition online and asked how our team did. He knew about Team 27 and 469. We must be doing a great job in Michigan promoting FIRST if a FedEx driver watch FRC matches online and was excited talking about it. - Ed Law [more]

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2012: Tuning the Jaguar's Speed Control PID Loop

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#27

29-10-2013, 17:02

gpetilli

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FRC #1559

Join Date: Jan 2009

Location: Victor, NY

Posts: 285

Re: 2012: Tuning the Jaguar's Speed Control PID Loop

I had the same idea of predicting the step response. Attached is my cut at estimating PID values of the drive train UNDER LOAD (without risk of crashing into walls). I have not tried this on the actual robot yet, but it will hopefully be a good starting point.

I have updated the post with a new excel to correct some typos

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Drivetrain_Model_KOP2013.xlsx (208.8 KB, 17 views)

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