Falcon Drive Base Code Causing Lag – Reason Unkown

Technical Programming
1

This is the 3rd season now that our team has been using a 4 falcon West Coast Drive base, and each season we’ve had issues with lag and responsiveness with the falcon’s. We are unsure of what causes it however, as there are no packet losses. Has any other team had this issue and if so how did you fix it? Thanks! Attached below are screenshots of the code that handles the driving:

Arcade drive command:

Screen Shot 2022-02-20 at 3.48.48 PM
Screen Shot 2022-02-20 at 3.48.48 PM2116×1564 377 KB

Arcade Drive Class in the DriveSubsystem:

Screen Shot 2022-02-20 at 3.48.57 PM
Screen Shot 2022-02-20 at 3.48.57 PM1450×360 44.9 KB

Screen Shot 2022-02-20 at 3.49.03 PM
Screen Shot 2022-02-20 at 3.49.03 PM1896×392 52.9 KB

The Drive Subsystem:

Screen Shot 2022-02-20 at 3.49.19 PM
Screen Shot 2022-02-20 at 3.49.19 PM1886×1622 569 KB

2

Setting an open loop ramp of 1 second means there will be 1 second of lag to get to full speed.

1 Like
3

would this also cause the lag when changing directions?

4

yes

5

Thanks! I will test it out when I get back into the lab tommorow

6

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