Team 254 - 2014 FRC Code

[Aaron.Graeve]

I have a few questions about the Flywheel Controller used on Barrage.

I am trying to understand the states you used to control the flywheel and have gathered the second element is the velocity, but I am having difficulty understanding what the first element is. Looking back on your 2012 code, the first state seems to be a position that is taking the place of an integral term and I am guessing a similar set up was used in 2013 and 2014. Is this correct?

As I was looking for what the first element of the flywheel state is, I came across a line that was writing part of the desired state matrix.

r.set(0,0, (velGoal * (1 - A.get(1,1)))/ A.get(1,0));

Could anyone clue me into what is being predicted here?

Lastly, what method do you use to find the gains for the matrices and select the poles that will be used?

Sorry for all the questions.