Mecanum Encoders - Chief Delphi

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Mecanum Encoders

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#13

25-01-2015, 15:02

forbes

Software developer

AKA: Evan Forbes

FRC #3507 (Ubotics), 694 (StuyPulse)

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Join Date: Apr 2013

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Re: Mecanum Encoders

Quote:

Originally Posted by Ether

You use the encoder speed signals (suitably scaled) as the process_variable input to the corresponding closed-loop controllers.

What's the best way to go about "suitably scaling"?

Is it as simple as running the drive wheels at full speed, getting the max encoder rate output and then multiplying our joystick values (from -1 to 1) by the max rate? Would this still work even with varying battery levels and all other factors?

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