Saturday, March 5th tasks

frc2609 / rapid-react-robot-code-2022

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Closed FernTemp closed 2 years ago

FernTemp commented 2 years ago

tune flywheel motors so actual rpm has good tracking on set point rpm
mark set distances from the goal and shoot ball
- record the distance and rpm
- we currently don't have hood motor control, so fix hood position
see if there is a relation between all the recorded distance and rpm
- try to create an equation to fit the points (excel seems like a good candidate for this)
once equation is determined (if there is one), implement it and try it

FernTemp commented 2 years ago

Use this branch (https://github.com/frc2609/rapid-react-robot-code-2022/tree/fy-flywheel-tuning) for flywheel tuning (can enter all values into SmartDashboard)

FernTemp commented 2 years ago

Notes:

Not going to try to get perfect tracking with RPM
- it's a little off (max ~100 rpm from setpoint) but should be okay
measured 0 to 3 feet distances, but can't go further since we need hood adjustment and that is not mounted/set up yet

FernTemp commented 2 years ago

Improved PID tracking. Changed the feedforward gain to 0.000183

theyeeman commented 2 years ago

Closing because old