Changes between Version 2 and Version 3 of ControlSystems/SoftwareTeam/Training/GettingStarted/ClosedLoopControl/PWMCode

Timestamp:

Nov 12, 2019, 7:41:14 PM (6 years ago)

Author:

David Albert

Comment:

--

ControlSystems/SoftwareTeam/Training/GettingStarted/ClosedLoopControl/PWMCode

@@ -37 +37 @@
    // Quadrature encoder has A and B channels connected to DIO0,1, DIO2,3
    leftEncoder = new Encoder(0, 1);
-   rightEncoder = new Encoder(2, 3);
+   rightEncoder = new Encoder(2, 3, true); // right side turns in opposite direction
    // Peanut wheels are 7.5" in diameter
    // Encoders provide 1 count per degree of rotation
@@ -45 +45 @@
    leftMotor = new Talon(0);
    rightMotor = new Talon(1);
+   // right motor turns in opposite direction
+   rightMotor.setInverted(true);
    // timer to manage autonomous direction updates
    autoTimer = new Timer();
@@ -77 +79 @@
     leftPower = 0.20;
     leftMotor.set(leftPower);
-    // to go forward, left motor turns clockwise, right motor counter-clockwise
-    rightPower = -0.20;
+    rightPower = 0.20;
     rightMotor.set(rightPower);
 
@@ -100 +101 @@
         // adjust motor power to try to keep left/right distances same
         leftPower  -= kP*error; // positive error means left is going too fast
-        rightPower -= kP*error; // right motor spins opposite direction of left
+        rightPower += kP*error; // right motor spins opposite direction of left
         leftMotor.set(leftPower);
         rightMotor.set(rightPower);