Quote:
Originally Posted by mhsrobotics3616
to try it out it would need be based on power not position. one thing ive been trying to figure out is how can i convert the encoder value of the tetrix motors to equate to a power. because wouldnt i set the setpoint as the power from the controller.
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No. If you want to go to a position and hold there, then your setpoint is a position command. The PID takes care of adjusting the voltage sent to the motor to move the arm to, and hold it at, that position.
If it is possible to add a torsion spring, or a counterweight, or even some cleverly positioned surgical tubing which will reduce the "weight" of the arm on
both sides of the "center of gravity", that might help too.