Sample Autonomous Modes

[Astronouth7303]

Originally Posted by JBotAlan

So are you saying that it is bad to have the infamous

pwm01 = p1_y;
pwn02 = p2_y;

lines that have been used in my code in the past? I'm thinking the velocity control stuff is really cool, but overkill for anything but auton.

If that was what was the interface, then it's perfectly ok. It's just sorta limiting. Something like

#define SetVelocity(left,right) pwm01 = left, pwm02 = right

is preferred for this change factor. (EDIT: Typos fixed)

If I did use the velocity control (which I now fully intend to implement this year) I would use a lookup table for joystick values matching to velocity settings. But like I said, that seems a bit overkill.

It might be overkill, but why spend 20hrs writing it for only 10s of the match?

This is especially helpful the drive motors are not symetric--they're biased.

Just one word of advice. If you get into fancy motor control loops, I recommend calibrating the victors to absolute. Subtle bugs appear when 127 - 7 drives but 127 + 7 doesn't. You can use my small program to do this.

[JBotAlan]

Originally Posted by Astronouth7303

If that was what was the interface, then it's perfectly ok. It's just sorta limiting. Something like

#define SetVelocity(left,right) pwm01 = p1_y, pwn02 = p2_y

is preferred for this change factor.

Warning to those who copy and paste, there's a typo, it's pwm, not pwn
Anyhow, if I'm going to be calling a SetVelocity function at all, I'm going to write a feedback loop, or at least a PWM output-to-velocity lookup table because it's fun to be exact (whoo, I guess my obsessive-compulsive is taking over ).

Originally Posted by Astronouth7303

It might be overkill, but why spend 20hrs writing it for only 10s of the match?

This is especially helpful the drive motors are not symetric--they're biased.

Ahh, good point. Note to self: separate lookup tables between left and right drive.

Originally Posted by Astronouth7303

Just one word of advice. If you get into fancy motor control loops, I recommend calibrating the victors to absolute. Subtle bugs appear when 127 - 7 drives but 127 + 7 doesn't. You can use my small program to do this.

Will do. I just pulled down the file, the description for it, and IFI's manual for the Victors (which I'm sure I have somewhere already, I just am not sure where. I need to get my obsessive-compulsive focused on that *mess* of a downloads folder...it clocks in at 14.7GB with 2995 files in it... )

Thanks,
JBot