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Galaxia5987 / robot-2019

Control code for the 2019 FRC season, Destination: Deep Space robot
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Unnecessary amounts of PIDs on the elevator #29

Closed pauloalbert closed 5 years ago

pauloalbert commented 5 years ago

I read this segment in the Talon SRX Software Reference Manual (page 95):

The benefits of this control mode over “simple” PID position closed-looping are… • Control of the mechanism throughout the entire motion (as opposed to racing to the end target position).
• Control of the mechanism’s inertia to ensure smooth transitions between set points.
• Improved repeatability despite changes in battery voltage. • Improved repeatability despite changes in motor load.

this leads me to believe that maybe it is unnecessary to create four different PID states, we could go with only two or even only one, as it will save time in the tuning phase, Needs testing.

katzuv commented 5 years ago

You're a marksman! I read that too but didn't relate this. Try maybe to talk to one of our mentors and Shaked, to see what's their opinion.

katzuv commented 5 years ago

We are using only one PIDF constants set with arbitrary feedforward to hold the elevator in place.