Drive

stuff

Speed Controller Modes Typically we use the percent output because it is the simplest to start with. Percent output takes in a double [-1.0,1.0] and applies that decimal percentage to the motor. Power is essentially our multiplier if you are doing some sort of smoothing (imagine the coefficient of a sinusoidal function).

Info taken directly from codebase: * In PercentOutput, the output is between -1.0 and 1.0, with 0.0 as stopped. * In Current mode, output value is in amperes. * In Velocity mode, output value is in position change / 100ms. * In Position mode, output value is in encoder ticks or an analog value, * depending on the sensor. * In Follower mode, the output value is the integer device ID of the talon to * duplicate.

Why use each mode?

• % is simple
• current is more uniform (?)
• velocity allows you to do more with robot position
• position is useful for say specific preset elevator heights
• follower (?)