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FRC Motor openloop control with TalonSRX Toughbox Mini

Darrell
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Darrell

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10 years 10 months

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Description

PIDF feedback control theory for FRC motor speed controlCross the Road ElectronicsTalon SRX reference manualhttp://www.ctr-electronics.com/downloads/pdf/Talon%20SRX%20Software%20Reference%20Manual.pdfToughbox mini gearboxSee section 17.2. API Unit Scaling This section contains important unit scaling information. 17.2.3. Java – Configuring Quadrature Encoder (4x)If the CPR (Counts Per Rotation) are set for the encoder, then the PIDF functions all assume units of rotations (for position control) and RPM (for speed control).10.3. Velocity Closed-LoopThe Talon’s Closed-Loop logic can be used to maintain a target velocity. Target and sampled velocity is passed into the equation in Section 18 in native units per 100ms. See Section 17.2.1 for information regarding native units.TIP: A simple strategy for setting up a closed loop is to zero out all Closed-Loop Control Parameters and start with the Feed-Forward Gain. Tune this until the sensed value is close to the target under typical load. Then start increasing P gain so that the closed-loop will make up for the remaining error. If necessary, reduce Feed-Forward gain and increase P Gain so that the closed-loop will react more strongly to the ClosedLoopError.

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