pic: Things you couldn't do again if you tried

[PAR_WIG1350]

Originally Posted by adciv

But related to PIDs... This year we had a 6 pneumatic wheel tank drive. We were tuning the PID and the robot started oscillating back and forth, and due to some of the motions, started walking side ways. We've got those PID values saved and would try it out more if it weren't so hard on the drive train.

Sounds like your Z-domain poles escaped from the unit circle. If it weren't for the limits imposed by the motors, the controllers, and the battery, it would probably be even more violent.

[adciv]

Originally Posted by PAR_WIG1350

Sounds like your Z-domain poles escaped from the unit circle. If it weren't for the limits imposed by the motors, the controllers, and the battery, it would probably be even more violent.

If I'm remembering my controls correctly, an escape would send it unstable. We were astable and therefore on the unit circle.

[jimv]

In a practice match at the OC regional our auto messed up and accidentally shot another team's camera tower. A few seconds later the team whose camera was shot pulled it down and started to fiddle with it.

[logank013]

Dare I bring this up from the Perry Event this year? *sigh*

Our robot lost code (1 of many many times) and then decided to have a mind of its own. It went on a rampage and we ended up getting e-stopped while parked on the wrong batter...Here is the match.