Quote:
Originally Posted by techkid86
Quote:
|
you need to scale the encoder signal so that it corresponds to the setpoint. otherwise the PID cannot form a proper error signal.
|
ok, how would i find out what that is? I assume that that is the SetDistancePerPulse function? |
Yes.
SetDistancePerPulse() so that a call to GetRate() returns +1 when the speed is what you expect to get when setpoint is +1.
As for tuning a speed PID, read this thread:
http://www.chiefdelphi.com/forums/sh...90#post1115090