Quote:
Originally Posted by Ether
Paul, would it be useful to ask the folks at WPILib to change their 884 (and future 888) driver to use a period of 5ms instead of 17ms? I realize it probably makes little difference in the vast majority of cases, but there may be teams who want to close a loop at 10ms.
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The Victor 884 class runs at 10ms. It's hard to tell from the comment if it was tested at 5ms.
Code:
/**
* kDefaultPwmPeriod is "ticks" where each tick is 6.525us
*
* - 20ms periods (50 Hz) are the "safest" setting in that this works for all devices
* - 20ms periods seem to be desirable for Vex Motors
* - 20ms periods are the specified period for HS-322HD servos, but work reliably down
* to 10.0 ms; starting at about 8.5ms, the servo sometimes hums and get hot;
* by 5.0ms the hum is nearly continuous
* - 10ms periods work well for Victor 884
* - 5ms periods allows higher update rates for Luminary Micro Jaguar speed controllers.
* Due to the shipping firmware on the Jaguar, we can't run the update period less
* than 5.05 ms.
*
* kDefaultPwmPeriod is the 1x period (5.05 ms). In hardware, the period scaling is implemented as an
* output squelch to get longer periods for old devices.