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Feed Forward Gain Question for Talon SRX?
We are using E4T Quadrature Encoders with a CPR of 360. The SRX Software guide states on page 109.
17.2.1. API requirements and Native Units for Unit Scaling Native Units Per Mechanical Rotation (also the resolution) Quadrature Encoder 4 X CPR ConfigEncoderCodesPerRev() <= The Java API documentation implies this should be set to CPR = 360 The doc kind of implies that ConfigEncoderCodesPerRev() should be set to 4 x CPR (or 360 in our case) Also then when calculating F-Gain what do you use 360 or 1440 is F-Gain = (.5 x 1023) / 1440 or is F-Gain = (.5 x 1023) / 360 So two questions what is the proper value for the denominator in F-Gain calc? What do we plug in for ConfigEncoderCodesPerRev() ? (360 or 1440) |
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