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CapitalRobotics / Janxs_Brain

This repository contains the core production code for FTC #14251, including autonomous, teleop, and utility functions used in both current and past seasons.
https://sites.google.com/mpsvt.org/capital-robotics/home
BSD 3-Clause Clear License
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PID Inconsistnacy #12

Open torinriley opened 4 days ago

torinriley commented 4 days ago

Description

The PID control for the arm motor shows inconsistent behavior during matches. Despite working well in practice, the arm overshoots or undershoots its target position, causing delays or inaccuracies in task execution.

Steps to Reproduce

  1. Calibrate the PID loop using the pidMaybe class during a practice session.
  2. Deploy the code to the robot for a match.
  3. Attempt to move the arm between the up and down positions during gameplay.

Expected Behavior

The PID loop should smoothly and consistently move the arm to the desired position, with minimal overshoot or undershoot, regardless of match conditions.

Actual Behavior

• During matches, the arm frequently overshoots or undershoots the target position. • The PID loop appears to overcompensate or stall intermittently. • Behavior is significantly less consistent than during practice sessions.

Screenshots or Logs

N/A

See Commits

eba1835

cheesebroccoli commented 4 days ago

The inconsistency may be bc of the battery, the actual algorithm isnt very good and we put in random numbers anyways so I didnt really expect a lot out of it.

On Sun, Nov 17, 2024 at 22:09 Torin Etheridge @.***> wrote:

Assigned #12 https://github.com/CapitalRobotics/Janxs_Brain/issues/12 to @cheesebroccoli https://github.com/cheesebroccoli.

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