(i know that i would be much better if the master and the slave were rigidly connected with a gear, as usually done in driving mechanisms. This works fine in one direction (lifting the lift, the positive value to the motors) but in the other direction (lowering the lift), we have a significant difference in timing or power to the motors, which creates significant mechanical stress since both sides of the lift are driven to different positions. the “master” runs the motion magic function. We tried to control two motors using one sensor (potentiometer in this case) by setting one talon as “slave” to the “master” talon with the potentiometer connected to it (section 9.1 in the manual). The “target velocity” the profile generated and tried to follow was not smooth (constant acceleration) as we were used to, but had big steps, like step function. I would be happy if any of you could comment on this and share your experience. Yesterday we started implementing motion magic to control a lift and had some trouble (with the new release of ver 3.1 for the Talon SRX) In 2017 we were using motion magic with Labview and were very happy with it. The software reference manual has a great walkthrough and example code. In theory you don't need a gyro because your wheels will be traveling at the same speed, keeping you straight. We will see how it holds up to the rigor of a full FRC season. Motion magic is great and super simple to use. While we don’t have a lot of position control features on our robot this year, I am inclined to think this method may replace our PID position control. loading while up against a wall or something that pushes back. We have yet to test under situations which may provide some abnormal loads, eg. We have yet to use the index feature but are planning on it. Modifications: there are two Smartdashboard outputs that we had to comment out of the code as they are unsupported currently, i guess they will be in the next release. (with a 100:1 our error was down to +/-5 native units with just P) Using the outputs from the example code we were able to set our F-gain quickly as well as tune our PID. We used a 775 pro on a 100:1 versa planetary with a Integrated encoder to consistently turn our gear collector 70 degrees and then back to home. Overall opinion - A relatively easy way to implement motion profiles for simple motions. We used the Motion Magic sample code from CTRE yesterday. Let me know if you have any additional questions. That’s it! It gives you flexibility to have all movements follow a trapezoidal motion profile without actually generating the profile points. Once this has been done, you can use set() calls as normal to set the position that Talon will move to, and the motion will follow a trapezoidal motion profile (as described in the motion profiling documentation). conditions characterized by shock loads, complex motion, high. You then use two additional calls (setMotionMagicAcceleration(double) and setMotionMagicCruiseVelocity(double)) to set the desired acceleration and cruise velocity parameters. The first step for Motion Magic is setting up your position PIDF values as normal (see the Soft. You use the MotionMagic control paramter when setting the Talon Control Mode. Motion Magic is a new control mode for Talon SRX that provides the benefits of Motion Profiling without needing to generate the profile data. There’s a new manual version going out soon, but I can give you the basic information in the meantime. Excludes ATT braille books, tests, custom work, and products last sold prior to 12/2017.I just asked CTRE the same question and I am posting the response here for others: Discontinued Products This table identifies recently discontinued products.
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