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FRC701 / Brokkr-2023

FRC Robotics Team 701's Robot code for 2023's game "CHARGED UP"
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Arm telescope position PID #22

Open duane701 opened 1 year ago

duane701 commented 1 year ago

Add a PID control loop to the Arm telescope.

  1. Set the arm telescope based on a number of inches of extension. Map encoder ticks to distance. Use the motor encoder for the control system ticks.
  2. The arm will need to be zero'd on initialization. Move the arm in reverse until the reverse limit switch is hit.

The gear ration and the size of the wheel driving the telescoping arm will give the distance that the arm has moved.

duane701 commented 1 year ago

Can a subsystem have multiple PID control loops?