Quote:
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Originally Posted by Orborde
// kick the output out of the deadband
if (output < 0) output -= 7;
if (output > 0) output += 7;
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If I understand the "kick it out of deadband" and the rest of your code, the problem should be Victor related.
What I am getting at is that the speed controllers have a built in deadband of +/- 10, not 7, centered on 127. In other words, 7 doesn't quite kick you out of the deadband region. But expanding your numbers too far could lead to an unsafe/uncontrollable situation where it will never find a stationary position.
Try increasing the value +/- 1 at a time.
And, by the way, let us know how it turns out!!!