Controlling a turret Motor in position mode

Technical Technical Discussion
1

So I have a motor connected to a talon which is also connected to a quad encoder.

My goal is to take error angles from my vision system and be able to constantly have turret home to that location.

Where I struggle with this is it creates some sort of open loop… where I am getting constant rotation commands (which will hopefully make sense as I get closer to that point… 30 degrees, 25…20…10…etc) but it’s possible they don’t was well.

Can I just constantly keep resetting the position value? Does that make sense?

Does anyone have an example of something like this?

Thanks!

2

You can just update the error value. Also, you don’t even need the encoder. You can write a simple P or PID controller that just takes the error from the limelight. I want one on our turret, though so that we can always point to the target even when we are driving around.

3

Feel like the encoder would help accurately the

4

If anyone has any good examples of this that would be cool too

5

It could. Maybe it will read faster than the limelight and be smoother.

6

Our code is here https://github.com/phlogiston1/frc-3461-2020/blob/master/src/main/java/frc/robot/commands/AutoAim.java but it doesn’t use encoders.

7

Yet

8

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