I was watching HighTide’s behind the bumpers video, and while I was listening I heard that they managed to implement field-oriented control on all of their motors.
Unfortunately, I can’t find any of their code past 2019. So, my question is: do any of you guys’ teams use Field-oriented control on their robot, and how did you guys implement it? Bonus points if people from hightide reply here.
You need a holonomic controller where you can give an input vector usually 2 doubles. And then the two choices are rotation just turns or field locked rotation which requires a PID controller over the bots angle and is a bit more work to impliment.
Do you mean the holonomic drive controller in WPILib? I thought that was for path planning
It is, holonomic controllers are general they don’t have to be used for autonomous and you can make your own variant. It’s any controller that lets you move and face any direction.
When they say “field oriented control” they are talking about a feature of the Falcon 500 motor that comes with the Phoenix Pro software. So, they buy the software for $10/motor/year and just make the corresponding API calls. They are not talking about “field-oriented” swerve.
wait, the falcon firmware update has arrived? I thought that they still haven’t delivered the update that allows for FOC
that means that they are only using falcons too right?
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