...
- Six motor and wheel turning
- rocker-boogie suspension
- Provide a chassis to install the rest of the system on top of the drivetrain
- power through a 48v battery
- user joystick input
- Autonomy abstract command input
- User control mode
- Direct joystick mapping (worst-case fallback mode)
- speed input controlling
- GPS position input controlling
- arcade controller (gives the user more control flexibility)
- soft-start/ speed ramping(improve current draining performance)
- CAN communication
- Close loop control
- Global positioning estimate(GPS) and local positioning estimate(encoder)
- System re-sync and recalibration(if required) [Estop Triggered]
Note: The Drivetrain drivetrain feedback loop is different differs from the motor driver's built-in control loop in the motor driver. It fuses the global and local positioning systems to compensate for the effect of the desert environment or terrain.
...
| Member | Update | Action Items |
|---|---|---|
New Tasks
- Alex Szabo please fill this section out
General Notes
- Investigation on the FRC motor controller
- https://docs.revrobotics.com/brushless/spark-max/control-interfaces (High level CAN overview)
- https://docs.revrobotics.com/brushless/spark-max/encoders (Encoder system)
- https://www.revrobotics.com/rev-21-1652/ (Motor Information)
- https://docs.revrobotics.com/brushless/spark-max/closed-loop-control (Close loop control explained)
- https://docs.revrobotics.com/brushless/spark-max/parameters (Motor Driver config)
- https://docs.wpilib.org/en/stable/docs/software/can-devices/can-addressing.html (Information regarding FRC general CAN)
Project ownership(person to contact)
...