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FRC9015 / Crescendo

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Add Slew Rate Limiting and Tune Ramp Rates for Drivetrain #48

Closed REVSIX closed 8 months ago

REVSIX commented 8 months ago

The robot currently accelerates fast and is hard to control. Also, it struggles when switching velocities quickly. We can fix this through slew rate limiting to keep the drivetrain from jerking and ramp rates to smoothen the acceleration.

REVSIX commented 8 months ago

Sebastian prefers a free-drive train and has asked to not limit any acceleration as he is a preferably aggressive driver. I tuned the ramp rates for him and he is pleased so I am going to close the issue with emphasis placed on #52