Using speed PID controlled mecanum with Holonomic Drive.vi

[GuyM142]

I'm trying to program mecanum drive with speed PID for each motor.
I want to do this in order to set the rotation speed of each wheel rather than setting power (-1 to 1).

I've noticed that it can be easily programmed using Talon SRX CAN,
but unfortunately our team will not get them soon and because they are out of stock we fear that we won't be able to get 8 of them for both competition and training robots.

So, I need help with programming mecanum drive with PID speed control because I don't know how to integrate this into the excellent Holonomic drive which I wish to keep using.

Thanks.

[Kevin Sevcik]

Vex Robotics has Talon SRXs in stock. They'll even ship today if you order in the next 3 hours. Hurry!

Seriously, though. What's with everyone thinking SRXs are out of stock?

[Joe Ross]

Originally Posted by GuyM142

I'm trying to program mecanum drive with speed PID for each motor.
I want to do this in order to set the rotation speed of each wheel rather than setting power (-1 to 1).

I've noticed that it can be easily programmed using Talon SRX CAN,

A Talon SRX isn't magic. Whether you try to run a velocity PID on the Talon, or in your LabVIEW code, tuning the PID control values is hard.

[GuyM142]

Originally Posted by Joe Ross

A Talon SRX isn't magic. Whether you try to run a velocity PID on the Talon, or in your LabVIEW code, tuning the PID control values is hard.

I know that, but I need help with adding PID control to normal controllers because the only examples I have seen use CAN.

[jman4747]

Originally Posted by GuyM142

I know that, but I need help with adding PID control to normal controllers because the only examples I have seen use CAN.

You take the motor setting outputs from the Holonomic VI and multiply them by the max rpm value you will see from your encoders. Then wire the setting into the PID VI "set point" and the encoder rpm value into "process variable". The output range should be 1 to -1.