search

calcmogul / controls-engineering-in-frc

Controls Engineering in the FIRST Robotics Competition: Graduate-level control theory for high schoolers.
BSD 3-Clause "New" or "Revised" License
283 stars 25 forks source link

possible typo on page 59 #22

Closed narmstro2020 closed 1 year ago

narmstro2020 commented 1 year ago

In section 6.9.3 you have the equation

Buff = mg.

I think it should be Buff = g

I did some checking in the simulator with values and determined for our elevator a mass specific mass. When solving for it using this equation I found that an extra square root occurred. If I'm not mistaken B has units of (m/s^2) / volt. The right hand side should be the same.

calcmogul commented 1 year ago

Yep, Bu_ff has units of acceleration, so the right-hand side should be the acceleration due to gravity g.