#ROBOTC CODE HOW TO#

Dynamics of the centrifugal governor : Lagrange method with Vex simulationВ example.Steamworks 2017 FRC touchpad mockup using vex parts.RC bouy вЂ¦.saves lives and would be great for other ocean research that requires a robustВ platform.Flying Fire Hose blog #2 IO Hawk HoverboardВ Teardown.If(pwm_lift_cmd > 0 & lift_pos >= LIFT_MAX || pwm_lift_cmd 0 & upper_limit_sw || pwm_lift_cmd tol )Д®lse //we are within the tol so we have met the goal If(lift_pos вЂ“ LIFT_OTHER -LIFT_TOL) lift_state = LIFT_OTHER If(lift_pos вЂ“ LIFT_HANG -LIFT_TOL) lift_state = LIFT_HANG If(lift_pos вЂ“ LIFT_DROP -LIFT_TOL) lift_state = LIFT_DROP If(lift_pos вЂ“ LIFT_PICKUP -LIFT_TOL) lift_state = LIFT_PICKUP If(lift_pos вЂ“ LIFT_DOWN -LIFT_TOL) lift_state = LIFT_DOWN Compute discrete lift states for other functions to test on. Lift_goal = NO_GOAL //joystick input so reset lift_goal = NO_GOALДЄuto_lift(lift_goal, LIFT_RATE,LIFT_TOL) // modifies pwm_lift_cmd if lift_goal != NO_GOAL Pwm_lift_cmd = RT_Ch3/2 //half gain for demo inside deadzone so set command to zero and allow auto commands if(error - DEADZONE) //adds simple deadzone Use LIFT_TOL_DOWN in place of LIFT_TOL in the down direction error test. To compensate for the extra overshoot in the down direction, you can increase LIFT_TOL to LIFT_TOL_DOWN =LIFT_TOL*factor. Now you can set the LIFT_TOL equal to the overshoot in the up direction. You will find that the overshoot is a lot more for the down position due to the assistance of gravity. Repeat this for both above and below goal starting conditions. You can get an idea of the overshoot by setting LIFT_TOL = 0, pushing the select goal button and then looking at the difference between where the lift stopped relative to the lift goal position. The LIFT_TOL is used to bias the target goal in a direction that anticipates the overshoot and shuts the lift rate off early. The size of the overshoot depends on the lift inertia, the magnitude of the fixed rate and the motor drag torque. This rate will cause an overshoot after the lift_goal is reached.

#ROBOTC CODE HOW TO#

Here is the RobotC Sample_Auto_lift.c Program :ДЄ note on how to tune the program.

This program doesnвЂ™t require scripting logic, however, the int =auto_lift(int goal,int rate,int TOL) function is tailored to fit easily within a script if required. The friction of the lift is relied upon to hold the lift in place since closed loop feedback is removed once the lift has reached the goal. Since I have been working with the kids on auto_lift control I thought I would put in writing a sample program that uses potentiometer feedback to stop the lift at discrete goals.

Robotc code