Programming Motors for Arm

[dmitch]

How will I determine the correct voltage when I get the arm position I want? And then for the process variable, which I understand to be the actual position of the pot, you mentioned an array; is this preset in the PID or will I have to do something extra for that?

[Mark McLeod]

Originally Posted by dmitch

How will I determine the correct voltage when I get the arm position I want?

You physically position the arm where you want it, then measure the pot output in LabVIEW (front panel indicator or probe), or you use a multi-meter to get your voltage reading.

[Vikesrock]

Originally Posted by Mark McLeod

You physically position the arm where you want it, then measure the pot output in LabVIEW (front panel indicator or probe), or you use a multi-meter to get your voltage reading.

Another option is to first convert your potentiometer voltage to an angle (The relationship should be of the form angle=m*voltage + offset). You can then use that angle to calculate the height of your arm end effector (you'll likely need to draw out the geometry to arrive at the correct equation). Your presets could then be set in inches from the floor.

[MaxMax161]

Originally Posted by dmitch

How will I determine the correct voltage when I get the arm position I want? And then for the process variable, which I understand to be the actual position of the pot, you mentioned an array; is this preset in the PID or will I have to do something extra for that?

Here's a quick .vi I wrote to learn about PIDs. It's not perfect but it allows you to simulate what a motor using a PID would look like. I think I did a decent job labeling everything, if not feel free to PM me and I'll explain anything you need.

I've already uploaded this in a different thread, here's the link. http://www.chiefdelphi.com/forums/sh...ad.php?t=90604