Quote:
Originally Posted by reversed_rocker
when we built our crab drive, one problem we had was that the motor would over shoot the intended position, then try to swing back, and the process repeats.
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I am not a programmer, but I will tell you how I think we solved the problem. I believe we measure the delta between the angle we want and the current angle of the wheel. While that angle is >15 degrees, the wheel rotates at full speed. Between 15 and 5 degrees, the wheel rotates at a lesser speed. Between 5 and 0 degrees, it rotates slower, still.
We didn't seem to have any problem with overshoot. The wheels seemed to do a good job of "snapping" to a position and holding there.
All that said, I will check with the Controls team Monday and confirm this.