Go to Post A career is never static. - Bill Moore [more]
Home
Go Back   Chief Delphi > Technical > Programming > Java
CD-Media   CD-Spy  
portal register members calendar search Today's Posts Mark Forums Read FAQ rules

 
Reply
Thread Tools Rate Thread Display Modes
  #1   Spotlight this post!  
Unread 01-12-2018, 05:38 PM
QuantumPie QuantumPie is offline
Registered User
FRC #4500
 
Join Date: Jan 2018
Location: Missouri
Posts: 2
QuantumPie is an unknown quantity at this point
Problems with Swerve Drive

This is my teams first year attempting swerve. We are using Talon SRXs and so far the code works to an extent but we are having trouble with getting the motors to set to zero (forward) when it's enabled. Currently the Talons are set to MagEncoder Absolute and are position based. We currently use TalonSRX.setSelectedSensorPosition(0) but this requires us to manually move the wheels to zero the first time the robot starts. Ideally, we would like it to automatically go there each time it starts no matter where the wheels are but none of us have been able to figure out how to do that.

On the mechanical side of things, the motors that control the angle of each module get extremely hot and the battery drains very quickly. My mentor thinks its due to the PID loop (We are using 1.2, 0.0072, 15 as our values) but were not sure.

The link to our code is at https://github.com/FRCTeam4500/Swerv...team4500/robot
With a majority of it being in the WheelModule class in subsystems.

My team would really appreciate any help you can give us.
Reply With Quote
  #2   Spotlight this post!  
Unread 01-12-2018, 06:17 PM
MuskieProgramme MuskieProgramme is offline
Registered User
FRC #6420 (Fire Island Robotics)
Team Role: Alumni
 
Join Date: Dec 2016
Rookie Year: 2014
Location: Muscatine, IA
Posts: 266
MuskieProgramme is a glorious beacon of lightMuskieProgramme is a glorious beacon of lightMuskieProgramme is a glorious beacon of lightMuskieProgramme is a glorious beacon of lightMuskieProgramme is a glorious beacon of lightMuskieProgramme is a glorious beacon of light
Re: Problems with Swerve Drive

The turning motors heating up sounds like they are trying to turn, but can't. Make sure you have an acceptable margin of error around the setpoint.
__________________
Reply With Quote
  #3   Spotlight this post!  
Unread 01-18-2018, 12:28 PM
JFlynn's Avatar
JFlynn JFlynn is offline
Registered User
FRC #1706 (Ratchet Rockers)
Team Role: Mentor
 
Join Date: Dec 2015
Rookie Year: 2015
Location: Wentzville, MO
Posts: 8
JFlynn is an unknown quantity at this point
Re: Problems with Swerve Drive

Did you get this solved? If not, I sent you a PM with an offer to help.
__________________


Reply With Quote
Reply


Thread Tools
Display Modes Rate This Thread
Rate This Thread:

Posting Rules
You may not post new threads
You may not post replies
You may not post attachments
You may not edit your posts

vB code is On
Smilies are On
[IMG] code is On
HTML code is Off
Forum Jump


All times are GMT -5. The time now is 11:46 PM.

The Chief Delphi Forums are sponsored by Innovation First International, Inc.


Powered by vBulletin® Version 3.6.4
Copyright ©2000 - 2018, Jelsoft Enterprises Ltd.
Copyright © Chief Delphi