paper: Positional Motion Profiling - Team 900

[Ryan-Greenblatt]

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Positional Motion Profiling - Team 900 by Ryan-Greenblatt

[Ryan-Greenblatt]

This paper demonstrates team 900's efforts in using motion profiling on the Talon SRX. It contains a guide for motion profiling in LabVIEW with example code, but it is applicable to all languages. Questions about the paper can be posted here and someone who worked on this project will reply.

[AlexanderLuke]

Originally Posted by Ryan-Greenblatt

This paper demonstrates team 900's efforts in using motion profiling on the Talon SRX. It contains a guide for motion profiling in LabVIEW with example code, but it is applicable to all languages. Questions about the paper can be posted here and someone who worked on this project will reply.

You say it demonstrates your efforts in using motion profiling on the Talon SRX, was this profiling done experimentally or also used/planned to be used by Team 900? Or perhaps this was made as a guide for other teams looking to utilize motion profiling?

Great resource as a whole, thanks for posting!

[marshall]

Originally Posted by AlexanderLuke

You say it demonstrates your efforts in using motion profiling on the Talon SRX, was this profiling done experimentally or also used/planned to be used by Team 900? Or perhaps this was made as a guide for other teams looking to utilize motion profiling?

Great resource as a whole, thanks for posting!

Bit of both. We are putting it out there for other teams to use and hopefully learn from.

[Jared]

I found it was very helpful to add acceleration feedforward in addition to velocity feedforward.

It really increased the accuracy of the robot's position during the movement - it went from lagging by 2 inches or more to lagging by 0.5 inches at most. without it, I also saw the robot experience almost double the jerk that I specified.