Quote:
Originally Posted by sst.thad
How much ramp should we add. it would have to be over 2 seconds because it runs for about 2 seconds then stops.
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Experiment. The tuning constant "limit" determines how much the filtered value will be allowed to increase (or decrease) every 20ms (if you're running it in TeleOp).
So you could start with a zero-to-full-voltage ramp time of 3 seconds. Thus, if "+1" represents full voltage, then "limit" should be set to .02/3 = 0.0067. It will take 150 20ms periods (3 seconds) to ramp from 0 to +1.
By the time it gets to +1, it will probably be spinning fast enough that you won't overcurrent.