Quote:
Originally Posted by Mark McLeod
I'm not buying. 
You seem to be arguing against the evidence.
If Run to Position ever needs to be synchronized for left/right motors, then the design is simplest to always run as if that's the case, otherwise, additional logic (essentially yet another mode) would be required. |
So your argument is that if it may sometimes need to run syncronized, then it should always allocate the overhead for it.
OK, then how does it know WHEN to run syncronized?
There is no bit for it in the Motor Controller.
http://stuyfissionfusiondevelopment....ief%20v1.3.pdf
It's not like a robot where you give it a speed, distance and turn rate and it KNOWS that the wheels need to stay synched, and calculates the correct ratios. How does the controller deal with invalid ratios eg:
If I issue a command for the left wheel to go 1000 clicks at 50% speed and the right wheel to go 1000 clicks at 100% speed, should it synch? Clearly not. One needs to run for twice as long as the other.
How about left 1000 clicks at 50% and and right 2000 clicks at 100%? Probably yes but wait... there is no explicit tie in between the two on my robot, one is a shoulder joint and the other is a batton collector. Please don't synch them... ...
So if the Motor controller IS always trying to synch, then this is an equally big problem..
Plus it's not mentioned in the manual that I can find.