When did FIRST allow Victor 883's?

[Al Skierkiewicz]

Akash,
The deadband is a software/firmware defined zone where the output remains disabled. The Victor is at neutral with a 127 value on the input PWM. From the IFI Programming Guide:
PWM Speed Controller Full Forward = 254-227 Neutral = 136-123 Full Reverse = 0 – 37
Joystick Y Axis Full Forward = 254 Neutral = 127 Full Back = 0 – 25
Joystick X Axis Full Left = 254 Neutral = 127 Full Right = 0 – 25
Joystick Wheel Full Forward = 254 Neutral = 127 Full Back = 0 – 25

The dead band is the neutral 136-123 value. These values were needed as typical joysticks would never return to the same value when the joystick was released (return to center). By including the deadband, anywhere near the center would cause the Victors to stop. Since the neutral position is also sensed for "brake" mode, it was essential for that operation to produce a neutral PWM output when the joystick was released. Used joysticks still have problems in that there is considerable overshoot when you let go from a full throttle position due to wear of the mechanical components. Since many teams are using hand held controllers, the problem is not nearly as bad as with a full up CH control stick as was provided in the KOP in the past. Joe may have a better handle on this, but I think the deadband was able to be modified in the robot code.