Jaguar Speed & Position Control with Encoders

[DavisDad]

My son and I made these movies (link to post below) to show Mecanum with speed control. This is the FTC teams prototype; not FRC. This is the design from which we're scaling up.

http://www.chiefdelphi.com/forums/sh...26#post1318026

[nuttle]

FWIW, CAN Starter Pack is worth checking out, for teams that plan to use CAN.

[DavisDad]

Originally Posted by nuttle

FWIW, CAN Starter Pack is worth checking out, for teams that plan to use CAN.

Hi nuttle,

Thanks for the link. For $25, it'd save some time making cables.

[Phalanx]

Originally Posted by magnets

Has anybody really seen a benefit from really fast PID loops?

We have had a very positive experience using the closed loop PID in the Jaguar with Speed Control. Less than .25 seconds to reach proper speed from 0, even shorter times when returning to speed after a shot.

It doesn't require the CRIO PID to process it which free resources that can be used for other things.

[Ether]

Originally Posted by Phalanx

We have had a very positive experience using the closed loop PID in the Jaguar with Speed Control. Less than .25 seconds to reach proper speed from 0, even shorter times when returning to speed after a shot..

Note to rookies:

Fast spinup and recovery times are strongly influenced by mechanical design: operating speed, motor(s) selection, gear ratios, wheel diameter, and moment of inertia of the load (including wheel and flyweight). With a proper mechanical design, you should be able to get fast spinup and recovery times with other controllers as well.