Hello, I am trying to setup our teams aiming with limelight, but I do not like how the motors twitch when aiming. I’ve tried to use limelight’s minimim_command from their setup examples, but no avail. Here is my build
I am trying to make it so if the value is less than a certain amount, it will just not run, but my attempt is commented out cause it didn’t work. And might as well, here is a video of the motors for a clearer description of what is happening. Audio Warning.
It looks to me like a deadband for tx would solve your problem entirely. WPILib has a class (edu.wpi.first.math.MathUtil) containing applyDeadband(). I would put everything to the right of your equals sign here as the input value for applyDeadband(). That way, your code would read something like this:
tx = applyDeadband(double what you calculate to be tx currently, double your deadband);
Let me know how it goes!
Yeah that sounds great. Never would have known that existed, thank you. Gonna be a couple more hours before I can get into the shop so I’ll test it then and post the results here.
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Finally got into the shop and experimented with that deadband function. I tried it on the tx = like you said but it still freaked out a bit. So I started adding the deadband to the different parts, such as on the m_moveValue itself and such with similar results. It did help, but looks like I will need to tune all my values a bit till it gives me the results I want. What value of the deadband would you reccommend me try? I’ve maining stuck to .05 and .1 for it.
I Also updated the github with everything so the link above should have my implementation.
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