Can ramp up speed on smartDrive.DriveFor be controlled?

Programming Support
#1

We are programming using VEX Code Pro V5 version 2.0.1.

Our robot is a 2 motor skid steer and is very rear heavy – it likes to perform wheelies when initial acceleration is too fast. Fortunately for us, it never tips over.

In our program, we setup our drive as a smartdrive using an inertial sensor.

In autonomous, when we use DriveFor at anything higher than minimal speed, we pop a wheelie and it throws our alignment off track. Can we control the closed loop parameters used by DriveFor to create a more “trapezoidal” speed profile.

#2

I believe not. You would have to program your own custom function for this, as well as program your own custom drivetrain. @jpearman would know more about this.

#3

No, all control for driveFor is inside the motors. You would need to write your own code for that. It sounds like the drivetrain has very aggressive gearing.

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#4

2 V5 smart motors (one on each side) with a standard 18:1 cartridge (200 rpm). It appears I will be teaching the kids the easier points of closed loop control!