Motor controllers
Chapter 1 - Motors
Motor Physics and Construction
Motor Model and Schematic
Motor Speed Torque Curve
Motor Performance – Power and Efficiency
Motors in FIRST – Choices and Tradeoffs
Gearboxes – Getting the right speed and torque
Motor Heat
Motor Drive – What is Pulse Width Modulation (PWM)
Chapter 2 - Talon SRX
Connecting to a Talon SRX
Communicating with a Talon SRX
Talon blink codes
Talon versions and firmware
Talon control modes
Talon Velocity mode
Talon Parameters
Chapter 3 - Talon Encoders and Sensors
Quadrature Encoders
Analog Encoders
Sentinel Interface Board
Chapter 4 - Control Loops
Open Loop control
Closed Loop control
PID control
What is P – Proportional
P only live demo – Walk the line
PI – add the Integrator
PID – add a differentiator
PID + F – add Feed Forward
Chapter 5 - Tuning Examples
Stryke Force tuning tools
Tuning a no load CIM
Checking the axis open loop – confirm you understand your physical plant
Close the loop
Tuning F
Tuning P
Chapter 6 - Live Tuning Examples
Tuning I
Tuning I zone
Tuning D
Talon Velocity Filters and other high-performance tricks
Velocity Filter effect example
Chapter 7 - Live Tuning Examples
Adding big inertia to the velocity loop
Adding a bunch of drag
Chapter 8 - Live Tuning Examples
Tuning a position loop
Motion Magic
Chapter 9 - QSG and Q and A
Quick Start Tuning guide
Can you graph data during a match
How long does it take to tune a PID loop
How do you install the Stryke Force Tuning Tools
Does Stryke Force use 775s for everything
Stryke Force design process
NavX and field-oriented drive Sentinel Interface Board
Digital Servos
Vision systems – Stryke Force SteamWorks shooter
Wrap-up