Implement Closed Loop Control Strategy

RobotCasserole1736 / RobotCasserole2015

Code for the 2015 Recycle Rush robot for team 1736

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Implement Closed Loop Control Strategy #5

Open gerth2 opened 9 years ago

gerth2 commented 9 years ago

-Take equations designed for closed loop, write and commit sw -For integration with autonomous mode, the strategy should be able to accept input from either the driver, or from some other part of the software (eg, global variable).

gerth2 commented 9 years ago

Update with following improvements:

From Jeremy - Add Feed-Forward effort from driver joystick straight to rotational effort.

Increase I for better tracking of a linearly-changing setpoint (aka, during rotation) From Dan - upon rotation joystick returning to center, set desired angle to current angle From Andrew - if the above doesn't work, disable PID control while attempting to rotate.