Chassis Controller Voltage

CR7 · April 13, 2020, 2:34am

I was configuring the Chassis Controller Builder, and I came across the voltage. Is the max voltage for Okapi Chassis Controller 10000 as it is in the docs or no?

rpm · April 13, 2020, 2:17pm

looks to be 12000

github.com

timeconfusing/OkapiLib/blob/26cdee1894bacce6e15838bd9923bbcc7516f3f8/include/okapi/impl/chassis/controller/chassisControllerBuilder.hpp#L472




bool hasOdom{false}; // Whether odometry was passed
std::shared_ptr<Odometry> odometry;
StateMode stateMode;
QLength moveThreshold;
QAngle turnThreshold;


bool maxVelSetByUser{false}; // Used so motors don't overwrite maxVelocity
double maxVelocity{600};


double maxVoltage{12000};


bool isParentedToCurrentTask{true};


std::shared_ptr<ChassisControllerPID> buildCCPID();
std::shared_ptr<ChassisControllerIntegrated> buildCCI();
std::shared_ptr<DefaultOdomChassisController>
buildDOCC(std::shared_ptr<ChassisController> chassisController);


std::shared_ptr<ChassisModel> makeChassisModel();
std::shared_ptr<SkidSteerModel> makeSkidSteerModel();

rbenasutti · April 13, 2020, 10:37pm

Where in the docs did you see that? Please reply with a link.

CR7 · April 13, 2020, 10:55pm

https://okapilib.github.io/OkapiLib/md_docs_tutorials_walkthrough_chassisControllerBuilder.html

It didn’t mention the max voltage so I assumed it was the number used in the tutorial.