Our team this year is using an elevator to transport the balls and hatches to the goals. From a programming standpoint, I figured from reading a lot of posts on this forum that PID control is the proper way to go in controlling the elevator. Right now I’m a little lost with the overall process of programming the mechanism, given that it’s my first time doing such a thing.
My original plan would be to have a default command for the elevator that simply keeps the elevator at a raised set point, where it can also listen to button presses or joystick commands to lift or lower the elevator. From then on I can use a different command that sets the lift to a desired setpoint, which after the command ends I’ll keep track of the current position so that the original default command would be able maintain the height of the elevator.
I was thinking of using velocity control for the manual movement to move the lift at a desire speed and position control for when I want to set a position as a parameter. Are there any drawback to using two different types of control? Would it be best just to use position control?
If I was using, say position control and buttons as a manual for raising the elevator, would I just simply add a constant to the desired height as long as the button is pressed and feed that into the talonsrx?
By position/velocity control I mean the control modes on the talonsrx