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<p>Hi,</p>
<p>I'm not understanding the log outputs. <br>
</p>
<p>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. <br>
</p>
<p>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. <br>
</p>
<p>IMO the setpoint should be the number of steps (or equivalent)
you want the motor to have moved. The error is the difference. <br>
</p>
<div class="moz-signature"><font face="Comic Sans MS"
color="#000080"> <br>
-73 - <br>
<b>Rud Merriam K5RUD</b> <br>
<a href="http://mysticlakesoftware.com/"> <i>Mystic Lake
Software</i> </a> <br>
<br>
</font>
</div>
<div class="moz-cite-prefix">On 9/29/20 7:24 PM, Murray Altheim via
DPRGlist wrote:<br>
</div>
<blockquote type="cite"
cite="mid:f7403ba4-a95c-5a37-0c11-bc5f3b2295c9@altheim.com">Hi,
<br>
<br>
Addressing the hunting behaviour on the KR01 robot that we've
discussed
<br>
previously (i.e., rocking back and forth about 1/8 of a wheel turn
after
<br>
stopping), here's a full color (!) log of the journey:
<br>
<br>
<a class="moz-txt-link-freetext" href="https://service.robots.org.nz/wiki/attach/PIDController/pid_bounce_log.html">https://service.robots.org.nz/wiki/attach/PIDController/pid_bounce_log.html</a><br>
<br>
I may mention this in tonight's video discussion, thought to
provide a link
<br>
here. It basically shows the encoder and PID controller output as
the robot
<br>
accelerates to cruising speed then decelerates to a slow,
targeting velocity
<br>
before attempting to stop at the 2 meter mark.
<br>
<br>
Cheers,
<br>
<br>
Murray
<br>
<br>
...........................................................................
<br>
Murray Altheim <murray18 at altheim dot
com> = = ===
<br>
<a class="moz-txt-link-freetext" href="http://www.altheim.com/murray/">http://www.altheim.com/murray/</a>
=== ===
<br>
= = ===
<br>
In the evening
<br>
The rice leaves in the garden
<br>
Rustle in the autumn wind
<br>
That blows through my reed hut.
<br>
-- Minamoto no Tsunenobu
<br>
<br>
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<br>
</blockquote>
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