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Team2556 / Charged-Up

Team 2556's repository for the 2023 FRC challenge Charged Up
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Tipping on zigzag #7

Open wmbelk opened 1 year ago

wmbelk commented 1 year ago

Robot tips when changing directions.

Consider if derivative control in the PID could help ease the change in velocity. .... Looks like the profiled pod controller we have already implemented should take care of this.

wmbelk commented 1 year ago

Why are the profiled PID constraints for x and y using the same constraints as turning? The values look to be 2pi... wouldn't this be interpreted as 6.2m/s and 6.2m/s/s maximum?

private ProfiledPIDController m_xController =
        new ProfiledPIDController(kP_X, 0, kD_X, kThetaControllerConstraints);
private ProfiledPIDController m_yController =
        new ProfiledPIDController(kP_Y, 0, kD_Y, kThetaControllerConstraints)