paper: Team 1114 Controls and Programming Overview 2012

[Michael DiRamio]

Originally Posted by JamesTerm

I hope someone would be kind enough to explain how you made the equations for the linearizaton of the victor.

We did this fairly quickly this year after getting frustrated with the shooter speed control. This summer we hope to generate a more accurate function.

We started by plotting programming output vs victor voltage output (as well as programming output vs shooter speed) and used this to come up with a curve of best fit for the victor output.

We then used Mathematica to generate the inverse of this function. It was pretty ugly so we hacked it a bit by plotting the values from 0 - 1 and then finding a curve of best fit for this (which became the linearization function).

There's definitely a lot of room for improvement/higher accuracy in the function, but we found this linearization made a HUGE difference in the performance of our PID loops.