Quote:
Originally Posted by Mr. Lim
Does anyone have any experience trying to get a "slave" CIM to sync current output with a "master" CIM - specifically in the application of a 4-motor (2 per side) drivetrain?
I'm curious what ballpark PID values were used, and what your tuning methodology was.
We're planning on using the speed control PID on the master Jags. If there is a PID loop running on the slave Jags just to match the currents, if it doesn't react fast enough, it'll confuse the master Jag's speed PID loop. Sort of like trying to hit a constantly moving target.
Has anyone already implemented something similar to this?
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If I had to do this, I would have the PID control on the master jaguar, then take whatever that PID loop is outputing, and set the slave to that value (no PID loop on the slave jaguars). I had to use two motors to control a fully connected crab drive last year, and this method worked well for it.