7842F 2018-19 Robot Showcase - Flywheel Control, Odometry, Engineering Journals & More

[technik3k]

I had a chance to read through all details one more time…

First, I was trying to understand if your flywheel control algorithm is a continuous (textbook definition) PID, where everything is controlled in a smooth manner, without artificial jumps, vs the multi-segmented approach, where if() statements introduce discontinuity.

For example, your 7842F-Alpha-Code-RobotC repository has such if() statement, but in V5 code it is essentially a nop-statement

Then I got lost trying to decide which of the features I like more:

@theol0403

Odometry Debugging

Odometry is one of the most difficult things to diagnose if something goes wrong. You don’t know if the wheels failed, if the sensors failed, or if the code is wrong, and in what way. To help alleviate some of that pain, I wrote a GUI utility that helped us pinpoint problems.

…

demonstrated at 3:35 in this video: https://youtu.be/iW4RlnHbDrY?t=215

or the Vision Sensor instant visualization and filtering:

@theol0403

The library can also display objects to the screen for debugging:

7842F Vision GUI

It is likely I will release this library at some point this year when I am happy with it.

Please, don’t wait until the end of the season to release the code.