paper: Team 1114 Controls and Programming Overview 2012

[JamesTerm]

Originally Posted by Ether

For the Vic, I believe the answer is "yes" (and perhaps significantly) but I have no data to confirm that.

Does anyone have such data¹ they'd be willing to share?

I'm not going to be able to address the example directly with the no load motor speed, but I can share something that could be an interesting test to see.

As of today I've deployed the simbotics curve equations for the Admiral II for preliminary testing... I'll post back some gif's... it will be interesting to see how well they work. I've made a list of procedures of what I'll be doing here:

http://www.termstech.com/articles/Li...procedure.html

Comments, corrections... are welcome as this is new ground for me.

On the first point in the procedures I'll make a somewhat steady state graph... I can slow the rate down enough or we can get fixed point measurements as well. One of the graphs will apply the simbotics curve and then we can see how linear the line will become with it applied. I'm hoping to get these made and tested next week.

[JamesTerm]

Here is
3.1199*x^4 + -4.4664*x^3 + t2=2.2378*x^2 + 0.1222*x

when it is placed against
0.7134*x^3 + -2.2091*x^2 + 2.4878*x

Green show the voltage applied using the simbots equations
Magenta is the linear line we'd like to see in velocity (please ignore the skip at the beginning... that is a key pressing artifact in the simulation)

Cyan is a simulated encoder, emulating the victor equation that is listed on the simbotics pdf.

It is interesting to see how well they line up, but they are not perfect... I'm interested in how this inverse equation was made given the original equation.