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Ten-Ton-Robotics / 6364-Crescendo

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:sparkles: Field-Oriented Turning #19

Closed SizzinSeal closed 8 months ago

SizzinSeal commented 8 months ago

Overview

Field-Oriented turning. Point a joystick in the direction the robot should point, and watch the robot turn to face that direction.

Motivation

With manual turning, the operator has to keep in mind the current angle of the robot. Every state the operator needs to keep track of reduces their situational awareness and mental capacity. To reduce this strain, Field-Oriented turning should be implemented. It allows for slow motions and extremely fast yet accurate turning.

Implementation

A PID can be used to control the heading of the robot. This controller will be updated periodically on the RoboRio. SysID can be used to tune the gains.

SizzinSeal commented 8 months ago

Drive team says they don't have enough time to get used to it