I think the subtraction of setpoint.vel at 42:55 is incorrect.. Error deriv should be 0 given perfect feedforward tracking and your definition of error + error_last.
@chadkrause65749 жыл бұрын
At the end you described a board for high resolution encoders, can you clarify that? Is it a CAN based system that reads the encoder and updates the count via CAN or is it just a multiplier?
@ArchishmaanOkonkwo6 жыл бұрын
Hi 118.
@chrischen79676 жыл бұрын
Could you provide more details about the custom gyro board? What IC/part number was used? Is there an update to it in the 2018 robot?
@peterchacko86447 жыл бұрын
How do come up with the waypoints?
@rudolf-blue4 жыл бұрын
figuring them out on the field
@peterchacko86446 жыл бұрын
How can you find max velocity, max acceleration, max jerk, etc...?
@Joshua-kz9vq6 жыл бұрын
By taking measurements for all of them on the physical robot.