Changes between Version 11 and Version 12 of MotorControl
- Timestamp:
- Mar 4, 2016, 7:37:46 PM (9 years ago)
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MotorControl
v11 v12 41 41 * !FeedForward (F): Adds a constant to the output to keep it from going to zero 42 42 43 PID control loops are an important concept and the basics are explained in [https://en.wikipedia.org/wiki/PID_controller Wikipedia] and [http://www.expertune.com/tutor.aspx this tutorial] and [http://www.csimn.com/CSI_pages/PIDforDummies.html PID for Dummies]. You can implement a PID control loop using the Talon SRX ; you should refer to the [https://www.ctr-electronics.com/Talon%20SRX%20Software%20Reference%20Manual.pdf Talon software manual] section 12.4 (page 75) for a detailed explanation of how to configure the Talon for PID control with Java example code. In cases where PID control can't be implemented via the TalonSRX (e.g. for a non-Talon-controlled motor or when the feedback mechanism can't connect to the Talon), the !RoboRio can also implement PID control using the PIDController and PIDSubsystem classes; see [https://wpilib.screenstepslive.com/s/4485/m/13809/l/241901-pidsubsystems-for-built-in-pid-control here] and [http://cntsoftware.com/robotics/pdf/WPILib_programming.pdf here], and [https://www.assembla.com/spaces/rbhsrobotics/documents/cS2tESqASr45PGacwqjQYw/download/cS2tESqASr45PGacwqjQYw# here].43 PID control loops are an important concept and the basics are explained in [https://en.wikipedia.org/wiki/PID_controller Wikipedia] and [http://www.expertune.com/tutor.aspx this tutorial] and [http://www.csimn.com/CSI_pages/PIDforDummies.html PID for Dummies]. You can implement a PID control loop using the Talon SRX or withthe RoboRio; you should refer to the [https://www.ctr-electronics.com/Talon%20SRX%20Software%20Reference%20Manual.pdf Talon software manual] section 12.4 (page 75) for a detailed explanation of how to configure the Talon for PID control with Java example code. In cases where PID control can't be implemented via the TalonSRX (e.g. for a non-Talon-controlled motor or when the feedback mechanism can't connect to the Talon), the !RoboRio can also implement PID control using the PIDController and PIDSubsystem classes; see [https://wpilib.screenstepslive.com/s/4485/m/13809/l/241901-pidsubsystems-for-built-in-pid-control here] and [http://cntsoftware.com/robotics/pdf/WPILib_programming.pdf here], and [https://www.assembla.com/spaces/rbhsrobotics/documents/cS2tESqASr45PGacwqjQYw/download/cS2tESqASr45PGacwqjQYw# here]. 44 44 45 45 [http://www.orientalmotor.com/technology/articles/motor-sizing-calculations.html Motor Sizing Calculations]
