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Re: Take the "Bane" out of your Banebot P60s - Solution to Banebot P60 Weaknesses
Quote:
Originally Posted by Ether
Sounds like you want a proportional controller with rate limit on the output.
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A limitation of the amount of change that can occur between loops is really all that is needed, similar to what Ether suggested. It will make calibrating a PID a bit difficult, but not impossible.
If you are building a proportional only controller, then adjusting the gain for a slower approach to the target will be simple. Then, use the torque limiting function, like Ether posted, to smoothly start the motion. Combined, these two should get you close to what you want.
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