Our team has recently experimented with running PID control loops and odometry calculations faster than 20ms in the code (Using notifiers and addPeriodic), however when testing we’ve not seen any change in accuracy which is weird as the update rate was up to 10 times faster, so that brings me to my question, Does the set() function on motors work the instant it is executed, or wait for the next 20ms periodic to send it to the motor, and if it does the latter is there any way to work around it?
What motor controller are you using and how is it wired?
Are you using encoders wired directly to the Rio or are you reading them of the canbus?
Are you using PMW or canbus to control the motors?
Are you using the Rio canbus loop or a canifier? Those busses run at vastly different speeds.
If you are trying to run a .2 MS loop you are running inside the latency of these things. Not to mention the speed of the mechanical model.
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