Now that teleop drive code is working pretty ok, we will transition to auto. We have already made a velocity PID controllers for each side for use in teleop, so everything we make will be built on top of this. First we will make a pid controller to drive straight, then one to turn in place, and finally one to follow a path. This last one will be the most interesting, and for it we will have to decide which system to use: one that calculates a path every cycle and follows it, or one that has a fixed path at the beginning and follows it the entire time. The benefits to the former are that it lets you get anywhere from anywhere and will be helpful for gears in teleop. The benefits of the latter are that it can follow specific paths and is therefore potentially more predictable for auto, and it also doesn't require making an algorithm to generate a new path, as a path could just be chosen.
jmcculloch2018
commented
7 years ago
Now that teleop drive code is working pretty ok, we will transition to auto. We have already made a velocity PID controllers for each side for use in teleop, so everything we make will be built on top of this. First we will make a pid controller to drive straight, then one to turn in place, and finally one to follow a path. This last one will be the most interesting, and for it we will have to decide which system to use: one that calculates a path every cycle and follows it, or one that has a fixed path at the beginning and follows it the entire time. The benefits to the former are that it lets you get anywhere from anywhere and will be helpful for gears in teleop. The benefits of the latter are that it can follow specific paths and is therefore potentially more predictable for auto, and it also doesn't require making an algorithm to generate a new path, as a path could just be chosen.