Quote:
Originally Posted by CurlyFries
I wish I had found that thread when I was searching earlier. I'm doing a velocity closed control loop. If I understand correctly now, the FF needs to be adjusted until the encoder velocity matches the desired velocity, and then the other values (it seems mostly P and D) need to be adjusted to respond to changes in load, velocity, etc.
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That's the gist. Paul Copioli suggests adding I to improve acceleration and reduce steady-state error as well. Enough I would reduce the need for FF. But for starters, FF, add P and D, add some I if you're not spinning up as fast as you want.