Quote:
Originally Posted by Ether
What's the time scale on the X axis? Looks like a lot of phase lag.
|
Each pixel represents a 10ms iteration... for completion, the green is the voltage applied while the yellow is the voltage scaler from PID (or actually PD). Notice how quickly the voltage peaks to full voltage... then drops when the encoder reading got too high... I cannot explain why it is trying to calibrate at a fixed offset below the desired velocity, but fortunately any issue of that would not be contributed to the averagers. I suspect that issue is due to the tolerance size (I'll need to review the code).