Thread: Programming technique..
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Unread 24-06-2002, 04:02
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#0047 (ChiefDelphi)
  
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Re: Dead Zone Technique
Posted by Lloyd Burns at 05/03/2001 9:42 AM EST


Engineer on team #188, Woburn Robotics, from Woburn Collegiate and TorDistSchoolBrd, ScotiaBank. OntPwrGen, Enbridge.


In Reply to: Re: Dead Zone Technique
Posted by Gregory Ross on 05/03/2001 12:46 AM EST:




: I was very surprised to hear that the Victors have a dead zone built in. Still, I think it is probably a good thing to code your own. Of course, it wouldn't do any good to make your's smaller than the Victor's, but if there's a chance you might want a larger dead zone (to suit your driver's preference), it's not that expensive -- either in coding effort or in program space. (Remember you have lots of room with the BS2SX.)

. In fact, while the Victors have no output for input values of 127 +/- 10, we would do well to remember that, esprcially under load, many motors would growl and refuse to turn their shafts with outputs from the Victors corresponding to that range.

. In the white papers, here or on the InnoFirst site, there is a paper about realigning your output to a new straight line, to take account of the output and the motor dead-zones.

. For controlling servo mechanisms, I always slow the motor as it approaches the demand position (to prevent overshoot), this year looking up Victor input values based on "distance to go", and the minimum Victor input value to be found is always just outside the dead-zone.


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