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first95 / FRC2018

The code base for our 2018 robot
MIT License
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Elevator sometimes oscillates around its setpoint, even without any perturbation #52

Closed jwalthour closed 6 years ago

jwalthour commented 6 years ago

It happens a lot at the top of the travel, but also sometimes in the middle.

This seems like an intermittent issue - it often does not exhibit this behavior.

jwalthour commented 6 years ago

Also: this is a quick, chattering oscillation, rather than a slow, bouncing oscillation.

jwalthour commented 6 years ago

Might be worth trying configNeutralDeadband(). Start with an absurdly large value, just to make sure it does something. Then change back to a more reasonable value (like an inch or two).

lindsayvallen commented 6 years ago

This might have been related to the soft limit at the top of the elevator travel. As of tonight, @NHDinosaur has removed the soft limit from Keppler's elevator (#77) so that might fix it. Wait and see.

lindsayvallen commented 6 years ago

Only observed this issue in one match at Pine Tree, so considering this closed.