Quote:
Originally Posted by Ether
- what motor(s)
- total gear ratio from motor to wheel.
- Jag or Vic?
- coast or brake mode?
- voltage ramp rate?
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2 FP 0968-9015 motors. About a 3:1 reduction. Victors, coast. No voltage ramp (Does it need one?).
Quote:
- what encoder model, and where mounted
- what language
- 1x 2x or 4x decoding?
- Counter or Encoder class?
- to measure RPM, are you measuring the time between consecutive counts, or are you dividing the counts by the delta time?
- if dividing counts by delta time (see above item), how are you computing the delta time
- what execution cycle update rate?
- what wheel rpm value were you trying to control
- please elaborate a bit more on the nature of the oscillations: amplitude, frequency, etc
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This might be the problem. We are using a light sensor and a single strip of reflective tape to determine rate (one count per revolution). We used the Counter (labview) to determine rate by measuring time between counts. The execution rate was 20ms. I tried commanding wheel speeds between 2600 and 3600 rpm (the extremes of our shooter during competition). 20ms*(2600rpm * (1minute/60000ms)) = .867 rev/cycle. If the speed updates less often than the power command, would that throw it off? Thanks