Video Demonstrating PID speed control on Jaguars(graph visual)

[sanelss]

http://youtu.be/5KWmdKGCrg8

[RyanCahoon]

Did you try loading the wheel? Especially with transient loads (such as would be the case with a game piece going through a flywheel shooter).

[sanelss]

I tried to load it down with my hand as much as i could without it ripping my skin off, while it did make a difference it was negligible from what I could tell. This was the first test with variable input speeds so more testing is in order but from what I saw then it seemed like it's going to work perfectly for our needs. The only noticeable difference that there was,was a much higher current draw but that's about it.

[Invictus3593]

What is the benefit of using this system to control drive output rather than just the joystick values set to the Drive Axes? We did pretty well just binding joystick axes to drive values this past season and other seasons as well.

[wilsonmw04]

This is pretty neat. This is with the embedded PID of the jag and not the cRIO?

Can you give us some information on how you actually set this up?

[sanelss]

Originally Posted by Invictus3593

What is the benefit of using this system to control drive output rather than just the joystick values set to the Drive Axes? We did pretty well just binding joystick axes to drive values this past season and other seasons as well.

our drive system requires a vector force on the two drive axis. We use holonomic drive with omni wheels mounted 90* out of phase with eachother. This approach allows us to get perfect speed vectors meaning it will go in the exact direction we tell it to without drifting and should maintain orientation. While for most teams it wouldn't be needed on the drive, this is just one example with a CIM so if a team wants to do a shooter or something else where an exact controlled speed is needed

[sanelss]

Originally Posted by wilsonmw04

This is pretty neat. This is with the embedded PID of the jag and not the cRIO?

Can you give us some information on how you actually set this up?

ye this is with the embedded pid on the jag. Nothing special really to it just a standard setup. It requires the CAN bus though which you can buy a kit to use or make your own cables. Once you have CAN bus setup and the jags configured(with new firmware and ids) then the rest is pretty easy. Just use the CAN instances in labview for the jag, specify the encoder type and PID values with appropriate calls and you will get this result.

[gpetilli]

Can you post info on the gears you are using? where can I get some?

Also post what your PID parameters were set to.

[sanelss]

http://www.qtcgears.com/ is where we get our gears from. Just find the type and size that fit your requirements. I forgot what the model number of these were but shouldn't be hard to find. I actually directly mention what PID values i'm using in the video. 0.05 for P, 0.01 for i, and 0.5 for d. the d parameter doesn't really have much effect though.