Team 610 pre-season drivetrain

[ErvinI]

Originally Posted by Mr. Lim

Once it's driving we'll likely post a video, but I doubt it'll be much more interesting than any other FRC drivetrain doing laps.

Some dubstep will make the video more awesome.

What are you expecting that is different with Talons regarding PID control? I believe that you guys mentioned that you were using CAN last year. I'm not too familiar with it, but if I recall correctly it does some of the framing for you regarding PID control. I guess that part will be different.

However, we used PID control last year for our drivetrain running 4 Talons. Proved to be accurate within 3 inches over a 100 inch drive if the count-to-inch conversion was accurate, and that was with little tuning on the drivetrain ("Test mode" only works for one motor at a time, and we relied upon it for rapid tuning). For FRC purposes, I can't imagine that non-linearity is that significant between, for example, a Talon or a Jaguar running CAN.

[Ether]

Originally Posted by Mr. Lim

This is the first time we've used Talons, and are very curious about their linearity

Originally Posted by ErvinI

I can't imagine that non-linearity is that significant between, for example, a Talon or a Jaguar...

If it helps, there is actual test data available here:

http://www.chiefdelphi.com/media/papers/2720