Go to Post I suspect the GDC is enjoying watching teams wrap their heads around this ranking algorithm.... and is probably a bit surprised that it has taken teams so long to clue in to the options this ranking system presents to them. - dtengineering [more]
Home
Go Back   Chief Delphi > Technical > Programming
CD-Media   CD-Spy  
portal register members calendar search Today's Posts Mark Forums Read FAQ rules

 
 
 
Thread Tools Rating: Thread Rating: 3 votes, 5.00 average. Display Modes
Prev Previous Post   Next Post Next
  #19   Spotlight this post!  
Unread 19-05-2014, 22:36
randantor randantor is offline
Registered User
AKA: James Y
FRC #0624 (CRyptonite)
Team Role: Alumni
 
Join Date: Jun 2013
Rookie Year: 2012
Location: Katy, TX
Posts: 48
randantor is a glorious beacon of lightrandantor is a glorious beacon of lightrandantor is a glorious beacon of lightrandantor is a glorious beacon of lightrandantor is a glorious beacon of lightrandantor is a glorious beacon of light
Re: What's your favorite programming/control system magic this year?

Quote:
Originally Posted by Tom Bottiglieri View Post
The wheel controller which followed the trajectory basically looked like this (one running for each wheel, using the given wheel's path data:
Code:
double update() {
  Segment step = follower.getNextSegment();
  double motor = 0;
  motor = (step.vel * K_vel) + (step.acc * K_acc) + (step.jerk * K_jerk);
  motor += ((step.pos - getWheelPos()) * K_p);
  return motor;
}
Very cool! Your last second change in the Einstein finals was exciting to watch, and the controlled s-curve was very impressive.

What I can gather from this code is that the motor speed for each side is first calculated with a feedforward term from the velocity, acceleration, and jerk, and then additionally a proportional feedback term is added using feedback from the actual encoder position. Is this correct?

If I'm reading it correctly, is there a reason why the feedforward velocity (the velocity, acceleration, and jerk sum) is calculated on the robot using the curve values rather than calculated beforehand and output as motor velocity values?
 


Thread Tools
Display Modes Rate This Thread
Rate This Thread:

Posting Rules
You may not post new threads
You may not post replies
You may not post attachments
You may not edit your posts

vB code is On
Smilies are On
[IMG] code is On
HTML code is Off
Forum Jump


All times are GMT -5. The time now is 11:42.

The Chief Delphi Forums are sponsored by Innovation First International, Inc.


Powered by vBulletin® Version 3.6.4
Copyright ©2000 - 2017, Jelsoft Enterprises Ltd.
Copyright © Chief Delphi