Quote:
Originally Posted by tr6scott
Watch speed and backlash.... That homing routine is ok for most FRC applications, in industrial servo systems, the homing routine is...
Advance toward switch high speed.
Trip switch,
reverse direction,
run slow,
release switch.
set zero.
This method puts the gear backlash behind you...
The direction you need to move off zero, the gears have already meshed to drive that direction.
Probably over kill if you only have the one gearset, but if you have multiple gears, the backlash adds up.
|
You forgot looking for the index pulse on the encoder before setting zero.
Also, you might try adapting the e4p mounting for an
SRX Mag Encoder You can use that in absolute mode. The mounting should be quite similar to the e4p, but you'll have to drill a hole in the shaft to put the magnet in.