![]() As the error decreases, the power sent to the motor also decreases, until the error becomes so small that the motor stops moving. In this example, we calculate the error by subtracting the limelight’s ty value from the “Target Value” control, multiply that by the value of the “Proportional Gain” control, and then write the resulting value to the setpoint of the motor.Įssentially what happens is as the error increases, more power is sent to the motor, causing it to turn, and thus reducing the error (assuming the motor isn’t reversed). The difference between the current process variable value and the target process variable value is called the error. The basic concept behind this is we calculate the difference between what our process variable (in your case ty) is and what we want it to be, and then use that as an input to the control system. As a disclaimer, my team uses Chameleon vision, not Limelight, but the only difference in LabView (as far as I’m aware) is where the network table data is located, so this should work. ![]() Although this won’t get you 100% of the way there, this simple control loop should get you relatively good aiming accuracy. I definitely agree with Your best bet is going to be some kind of closed-loop control system to precisely control your aiming motor. ![]()
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