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Re: pic: The Hammer
2468 ended up with a semi-similar solution, but instead of using Neoprene rubber we used a Jaguar... wait... ignore what I just said. Please do not use Jaguars as impact absorbers!
We put a quadrature encoder on the shaft and used position control mode to kick. The PID constants that worked best for us were a little bit unstable: Basically, aim for a bit before and let it overshoot. Then we used current control mode to rewind the motor and let it "stall" against a back stop. Since it was only 6 amps, no harm done. This let us reset the encoder to a known state - smashing it into a ball caused it to miss a few pulses each time! Rinse and Repeat.
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