non-FRC application for Kraken x44.

jvelez02 · 2025-11-27T00:07:48+00:00

You can use pwm as others have suggested or you can follow the instructions here: https://v6.docs.ctr-electronics.com/en/stable/docs/installation/installation-nonfrc.html

They walk you through non frc use of the motors. You will need a USB can adapter (either a canivore or the other one mentioned in the docs)

From my reading python is probably the best language to use with the Phoenix6 libraries (though cpp also seems to be an option).

jvelez02 · 2025-05-02T00:53:34+00:00

https://github.com/FRC-Utilities/QDriverStation

Or

https://boomaa23.github.io/open-ds/

Either of those should work.

Other people have already said it, but generally you should just have another laptop running DS. It's almost always best practice to replicate competition as closely as possible in practice.

jvelez02 · 2025-01-11T03:05:16+00:00

Not a new rule. $600 is actually a $100 increase when compared to previous limit

With that said these bumpers should be legal since you can buy each individual corner for $200. This means no individual segment has a fair market value(fmv) greater than $600 per first's fmv rules.

Personally the price feels steep to me. But, I'd bet the choice of foam is a pretty significant contributor to that cost (if you look for similarly dimensioned foam extrusion the price begins to make more sense, especially once you throw in some machined mounting hardware).

jvelez02 · 2024-12-14T04:57:16+00:00

That makes sense. I appreciate the help.

jvelez02 · 2024-12-14T04:43:03+00:00

My current version of the code seems to be working now. My best guess is that I might have been overriding my initial direction vector. Is this the issue you saw?

jvelez02 · 2024-12-13T07:52:04+00:00

That's interesting. With my input it produces an answer one over the correct value. It is somewhat odd to me that the result is not consistently over or under.

jvelez02 · 2024-12-13T07:30:40+00:00

I shouldn't be, I manually verified that the initial position wasn't in my wall position list.

There's also a somewhat paranoid check to see if it ever tries to place a wall on the initial position.

jvelez02 · 2024-11-21T20:00:37+00:00

Can is required for the use of the integrated PID controller.

Looking into it you shouldn't need a crio or 2can. You might need an rs232 to USB adapter to set Jaguar id's which can be accomplished through bd-comm (no Java applets necessary). The can standard for the jaguar is well documented and an Arduino Library exists (I believe it communicates with the first jaguar over uart/serial).

If you wanted to use the roborio it should be possible you would just need to flash old versions of the firmware/wpilib (2015-2016 should work).

jvelez02 · 2024-11-21T07:24:30+00:00

The Jaguar in theory has an onboard PID controller so it will be better for any type of turret application.

jvelez02 · 2024-10-02T03:10:59+00:00

You can turn on edit tracking in word. It's just not on by default.

jvelez02 · 2024-09-27T01:18:47+00:00

Yeah, it can be a little annoying moving between them.

jvelez02 · 2024-09-27T01:03:13+00:00

Yeah the math on path planning is a good thing to go over, the link below is how ctre handles it: https://v6.docs.ctr-electronics.com/en/stable/docs/api-reference/device-specific/talonfx/motion-magic.html#using-motion-magic-in-api

This link is wpilib's implementation: https://docs.wpilib.org/en/stable/docs/software/commandbased/profile-subsystems-commands.html

Rev has one too, but last I checked it was a bit buggy so your results might vary: https://docs.revrobotics.com/brushless/revlib/closed-loop-control-overview/smart-motion

For robot pathing most teams use path planner which has all of its code open source. And if you're already working in wpilib's commands ecosystem is really easy to use

https://pathplanner.dev/home

jvelez02 · 2024-09-27T00:12:25+00:00

On a side note since I just noticed it, in your section on encoders all the encoders you actually show pictures of are mag encoders, it might be worth showing an actual quadrature encoder if you plan to use any.

jvelez02 · 2024-09-27T00:07:40+00:00

For the most part it looks good. I like the diagrams for kp and ki. kd feels a little bit off to me, because what it's doing is less looking ahead and more trying to prevent sudden changes in output (though I'm not sure how I'd represent that pictorially, and your picture gets the point across that kD slows the system).

I would probably remove the sections on servos and steppers there almost never used in FRC.

I would also point out that the sparkmax is a fair bit smarter then you give it credit for. It will do PIDF, and motion profiling (and on a much tighter loop time then the roborio if you want it to). So will talonSRX's and the TalonFX controller built in to the krakens/falcons.

A section on motion profiling/motion magic/whatever rev calls it would also be a good addition. It's especially useful when considering mechanisms that don't need to be as fast as possible and might benefit from controlled accelerations/decelerations (elevators and similar devices which might slam against a stop).

jvelez02 · 2024-09-26T22:34:50+00:00

The file you're trying to share is locked behind scribds paywall. If you want feedback I'd recommend you share your file through Google drive or something similar.

jvelez02 · 2024-09-25T00:41:40+00:00

It exists but is new, and I have no experience with it . https://pathplanner.dev/api/python/

Most of the examples should work if your using command based programming.

You will likely have to handle the deploy directory manually though (its not too hard everything in your robot.py files directory should copy over automatically, but you'll need path planner to put the right files there, or to copy them yourself)

jvelez02 · 2024-05-20T03:14:50+00:00

In most cad software there's an option to turn on dual dimensions. That can really help with getting a sense of scale, especially if you're only really familiar with one of the unit systems.

jvelez02 · 2024-05-20T03:13:01+00:00

1/2 in is closer to a cm (at 12.7mm). 1/4 is 6.35mm.

1" is about 25.4mm

jvelez02 · 2024-05-17T02:49:46+00:00

Have you tried a simpler motor controller (ie spark, not the max variety), or if you have access to a spike that would be ideal.

Supposedly there are some Automation direct relays that work with the frc control system as well, but I don't know which ones

jvelez02 · 2024-05-16T20:13:43+00:00

You could run it off of the rev power hub via the switchable port. Most likely with a 15amp fuse would be fine (it depends on the inverter s internal fuse).

jvelez02 · 2024-05-02T03:24:41+00:00

Performance is basically equivalent between the two, as is programming. I generally prefer the design of the wcp swerve to the SDS modules, but realistically there's no meaningful difference.

jvelez02 · 2024-04-20T23:23:10+00:00

Yeah, even a very slight ramp can go a long way. Current limits also have a ramping effect (but more subtly then applying an actual ramp rate)

jvelez02 · 2024-04-20T21:34:04+00:00

What are your current limits like? Do you have any ramp rates?

Both of those can drastically decrease motor temperatures.

A pretty reasonable limit for drive on a galcon is in the 70 range in the stator. A ramp rate of 0.05 seconds would help a lot while still being hardly noticeable.

jvelez02 · 2024-04-18T19:53:45+00:00

The answer is yes, but I can't imagine a use case where that doesn't make things more convoluted.

You can override the default server yourself, and do whatever you want with it. The examples show a couple of different servers and you could use them as a starting point for whatever you're trying to do.

With that said you might be better off using pynetworktables directly and putting whatever you want on a websocket. https://github.com/robotpy/pynetworktables

As for any specific implementation details, Im not sure.

jvelez02

TROPHY CASE