I recently have been having problems to figure out how to accelerate and decelerate the drive train during autonomous for v5 pro text. I want to slowly ramp up or ramp down the speed to make sure that it is consistent. I have tried to split the distance I want the go and redeclare the velocity but …

It’s probably best to make a separate function for the PID that you can call whenever you want. This way you can just pass the targetPos as a parameter to the function. void drivePID(double targetPos){ //this is a constant that you will need to tune double kP = 0.1; //error is just the diffe…

You should try using a PID controller for this. Here is a document that will get you started: Documents Structural engineer with an interest in competitive robotics.

I will look into that but is there any other simpler way. I wrote something using only the P in PID

P should be all you need for this. It’s pretty simple too. The I and D components are only needed if you are having issues with drift or friction.

I actually do have issues with slight drift. I tried using only P but it didn’t work for me because I probably did it wrong.

Since you are new, start simple. Get the motor to work the way you want it to without worrying about how elegant the code looks. In pseudocode, probably you want something like: setMotorSpeed(10); wait(20, msec); setMotorSpeed(15); wait(20,msec); setMotorSpeed(20); wait(20,msec); // ... etc. Re…

It’s weird I tried that in my program but after every time I redeclare the velocity it stops the robot for half a second so its not smooth

If you want something really simple, here is an example of how to do a pseudo-trapezoidal motion profile. It’s definitely not written very well, but hopefully it can get the idea across. It’s basically just two P controllers with a limit. A slew controller for acceleration and a P controller for dec…

[image] RoboticsAmateur: It’s weird I tried that in my program but after every time I redeclare the velocity it stops the robot for half a second so its not smooth Perhaps post your code. While @Bob132 and @trontech569 provide correct answers for longer-term solutions, you probably need to g…

Great Thanks for everyones help I have one last question. Is there a way to run through motor commands without the code stopping? For example FrontLeft.setVelocity(100,pct); BackLeft.setVelocity(100,pct); FrontRight.setVelocity(100,pct); BackRight.setVelocity(100,pct); FrontLeft.startRotateFor(…

How to write code to accelerate and decelerate drive train code for autonomous

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trontech569 December 31, 2021, 12:47am 6

P loops will help with the deceleration of your drivetrain, but they won’t do much for your acceleration.

You may want to look into slew rate control with a P (or PID) loop