Team 254 Presents: 2015 FRC Code

[Jared Russell]

Originally Posted by Thad House

In DCMotor, is getPosition() in radians and getVelocity() in radians/second?

Yes.

The sim is super rudimentary, incomplete, and there are some bugs - but we found it enormously useful for designing the controllers for our elevator and motorized can grabber.

The first time we ran our elevator trajectory controller on the actual robot, it just worked. For the can grabber, we used our model to choose an appropriate gear reduction for the gearbox and evaluate different types of stored energy assist.

No promises, but we will probably continue to work on refining the sim interface and the underlying physics models for next year (for example, in all of our experiments we observe a delay in motor movement that we cannot model, even if we consider inductance). Maybe we'll do a Championship Conference presentation on simulation...?