I am trying to use the JAR template to code autonomous, but the PID does not seem to work. I used the chassis.drive_distance(400, 0, 10, 10, 10, 3, 4000, 0.4, 0, 0, 0, 0, 0, 0, 0); function to go forward a bit. The robot goes forward at the same speed and does not slow down. I just inputed the P in the PID constants and have tried to lower and raise them, but the drivetrain still goes the same speed. Does anybody know how to solve this issue? Thanks.
Drive chassis(
//Specify your drive setup below. There are seven options:
//ZERO_TRACKER_NO_ODOM, ZERO_TRACKER_ODOM, TANK_ONE_ENCODER, TANK_ONE_ROTATION, TANK_TWO_ENCODER, TANK_TWO_ROTATION, HOLONOMIC_TWO_ENCODER, and HOLONOMIC_TWO_ROTATION
//For example, if you are not using odometry, put ZERO_TRACKER_NO_ODOM below:
ZERO_TRACKER_NO_ODOM,
//Add the names of your Drive motors into the motor groups below, separated by commas, i.e. motor_group(Motor1,Motor2,Motor3).
//You will input whatever motor names you chose when you configured your robot using the sidebar configurer, they don't have to be "Motor1" and "Motor2".
//Left Motors:
motor_group(RA, RB, RC),
//Right Motors:
motor_group(LA, LB, LC),
//Specify the PORT NUMBER of your inertial sensor, in PORT format (i.e. "PORT1", not simply "1"):
PORT5,
//Input your wheel diameter. (4" omnis are actually closer to 4.125"):
2.75,
//External ratio, must be in decimal, in the format of input teeth/output teeth.
//If your motor has an 84-tooth gear and your wheel has a 60-tooth gear, this value will be 1.4.
//If the motor drives the wheel directly, this value is 1:
1,
//Gyro scale, this is what your gyro reads when you spin the robot 360 degrees.
//For most cases 360 will do fine here, but this scale factor can be very helpful when precision is necessary.
360,
Auton(just the P):
void drive_test(){
chassis.drive_distance(400, 0, 10, 10, 10, 3, 4000, 0.4, 0, 0, 0, 0, 0, 0, 0);
}
video of drivetrain:
IMG_6912.zip (18.0 MB)
Does anyone also know what all the parameters mean? I have checked the official documentation site for JAR but I still don’t understand some of the constants. If anyone could help that would be greatly appreiciated.