FRC971 Spartan Robotics 2016 Release Video

[Basel A]

Originally Posted by AustinSchuh

Depends on how you count them

The same loop runs on the left and right side of the shooter. They are only coupled in software. The control loop to run the shoulder and shooter angle is a 6 state MIMO (multiple input, multiple output) controller. The intake loop is separate. Then, there is the MIMO drivetrain loop being fed with angles by the camera.

So, yea, 5.



A pair of connected linkages (driven by miniature pistons).

The first 4 states are obvious: main arm position and speed, shooter mini-arm position and speed. What are the other two? How'd you go about tuning that? With that level of complexity, I imagine you had to go to model-based control?