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Originally Posted by eugenebrooks
It might be a more interesting proposition to consider scaling the output
based on the speed of a motor, and whether or not the speed
is in the direction of the desired torque, or the direction against it.
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Sounds like you are talking about closed loop feedback. Our team has done it for the past few years, and it helps greatly. One very common algorithm is called PID. It calculates an error which is defined as the difference between the current speed and the desired speed. It then factors in the current error, the time integral of the error and the derivative of the error to arrive at an output to give to the motors. If you do some googling you will find a wealth of info.