frc2609/rapid-react-robot-code-2022

Saturday, March 5th tasks

Closed this issue · 4 comments

FernTemp commented
  • 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

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)

  • 👎1
FernTemp commented

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

Improved PID tracking. Changed the feedforward gain to 0.000183

theyeeman commented

Closing because old