paper: Team 1114 Controls and Programming Overview 2012

[Q-Tip]

Originally Posted by Hjelstrom

Did you end up using the software "base lock" when on the bridge? We have a feature like this but only used it on the field because if the wheels slip, the PID controller would get "correct" and end up driving the robot the opposite way off the bridge. Maybe your rubber wheels don't slip on the bridge though!

Nice job!

Yes, we did use base lock on the bridge. The two main situations that base lock was used were when we were waiting for a balancing partner to climb on and when we were close to balanced and used fine adjustment on the base lock.