Quote:
Originally Posted by BenGuy
I have another stratagy... Our team had the same problem when we used straight PID, that it was way too fast. We solved it with about 30 seconds of coding though. (I'm not the team programmer but do know a good amount about it so this is my best pseudo code impression): If error (in PID) > .35 then set speed to .35 This worked out great and we have used it since. Before trying to go with motion profiling, I would try this. It caps the max speed to .35, when the error finally gets below that, it decelerates like normal.
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If you have to cap the speed to keep it stable within your tuning skill set, you will see better performance if you gear down more. You'll end up with a more stable system that has far more margin for loading changes.