Smart Motor Library

[jpearman]

@capple

I’m new to vex with a first year team. I been researching solutions to some of the issues they experienced at their first competition. The biggest was motor stalls/overheat. This project is very exciting but as a young team 6-8th grade there are starting with easyC. Does this code assume temp by monitoring velocity and command power? In the simplest answer at lease. I thought maybe test some simple conditional statements to limit power. Has others done simple ptc software limits in easyC?

This library was the result of lots of work done by myself and @vamfun during the summer of 2012. Here is a link to a thread with lots more information.

Estimating motor current - Part 3

Basic idea is
Measure velocity of motor
Estimate current for motor based on command value and measured velocity.
Estimate PTC temperature using using the current estimate and time.

I initially implemented in ROBOTC and later ported to ConVEX. For various reasons an EasyC implementation did (and will) not happen (unless someone else tries I guess).

The code works well for some things, mostly drive systems where the robot can get into a pushing match. It does not work well for things like flywheels and to some extent arm/lift systems. Actually, it is ok for monitoring flywheels, I do that, but turn off the automatic limit features.