[Dprglist] PID

[Murray Altheim]

Hi Rud,

On looking at those specific lines perhaps the issue is that there is a
setpoint (velocity) for both port and starboard PID controllers. The
starboard motor has simply reached the 2m mark first and the setpoint
is set to 0.0, then on line 9767 the port controller reaches 2m and its
setpoint is set to 0.0. I *think* that looks right.

Cheers,

Murray

On 30/09/20 1:50 pm, Rud Merriam via DPRGlist wrote:
> Hi,
> 
> I'm not understanding the log outputs.
> 
> At line 9740 the stbd motor has reached the 2m mark. The setpoint is set to 10.00 while earlier it was set to 50.00. I would think the setpoint should be the end position, i.e. 2m equivalent.
> 
> At line 9754 setpoint is not 0 and the error is 10.019. If it is at the end position the error should be 0. After that error is non-zero so outputs are generated which move the motors.
> 
> IMO the setpoint should be the number of steps (or equivalent) you want the motor to have moved. The error is the difference.

...........................................................................
Murray Altheim <murray18 at altheim dot com>                       = =  ===
http://www.altheim.com/murray/                                     ===  ===
                                                                    = =  ===
     In the evening
     The rice leaves in the garden
     Rustle in the autumn wind
     That blows through my reed hut.
            -- Minamoto no Tsunenobu