![]() This mode has one significant disadvantage, however. 2 were fed while this mode is active, the motor will attempt to turn the same speed by fluctuating the output voltage depending on the load on the motor. This effectively means that setPower() sets the speed of the motor, not the power. It first goes through a velocity PID, and the output from that controller is output to the motor. Using RUN_WITH_ENCODER, the power set takes a more indirect route to the motor. When setPower() is called, it sets the output voltage to the motor directly. RUN_WITHOUT_ENCODER makes the motor behave as if there is no encoder plugged in. These modes just change how the motor reacts to these encoder values. It is important to note that encoder values can be read in any of these modes provided an encoder is properly plugged in. Programming Tutorial - Mecanum Drivetrain.
0 Comments
Leave a Reply. |
AuthorWrite something about yourself. No need to be fancy, just an overview. ArchivesCategories |