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Speed up switching between drive modes #164

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4 tasks done
ryanlarkin opened this issue Apr 18, 2019 · 0 comments
Open
4 tasks done

Speed up switching between drive modes #164

ryanlarkin opened this issue Apr 18, 2019 · 0 comments
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enhancement New feature or request
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@ryanlarkin
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ryanlarkin commented Apr 18, 2019 •
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Currently, there is a lot of reconfiguration that goes on when switching between drive modes. This can result in delays to switch modes.

See drivetrain-config

  • Use PID slots instead of sending new PID values
  • Try to reconfigure sensors as little as possible
  • Use different Talons for different sensor configurations
    • Front left/right for individual control
    • Back left combined drive forward
    • Back right combined rotation
  • Use SlotConfiguration class to configure slots rather than setting speed manually
@ryanlarkin ryanlarkin added the enhancement New feature or request label Apr 18, 2019
@KyleRAnderson KyleRAnderson added this to To do in Platform via automation Apr 18, 2019
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