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Originally Posted by Kevin Watson
You can only do this if the motor is unloaded (and even then it's shakey, at best). In general you can't directly correlate a PWM value to a rotational rate. As noted elsewhere, you are better off commanding a velocity and letting a control loop set the PWM value. There are likely to be motor control examples in the white paper and programming areas.
-Kevin
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This is why I ask. My PID closed loop control is based on SilverStar's algorithm. He isn't accepting private messages or I'd ask him directly. I have a function:
int PID(int request, int actual, int *lastActual, signed int *sum)
In my code, request and actual will be PWM values from 0-255. The request PWM value will come from input from the joystick. The actual PWM value will come from the encoder. My question is, the encoder produces counts/time period. How do you get an actual PWM value from this. Or am I going about it all wrong?