Take the "Bane" out of your Banebot P60s - Solution to Banebot P60 Weaknesses

[fox46]

Correct-

biased with gas shocks

I never said it was balanced. The shocks only relieve some of the load, they do not remove it.

Ether: We may be thinking the same thing but I am just having a little bit of trouble visualizing what this pseudo code will do. Are newCmd and oldCmd encoder values or motor commands? (bear in mind I have very limited programming knowlege). I was thinking some sort of function like this:

accelerationscaling = |originvalue - destinationvalue| + (0.1 * max speed)
decelerationscaling = |destinationvalue - originvalue| + (0.1 * max speed)

"Where originvalue and destinationvalue are the position of the arm as determined by the encoders. This tells the function how close it is to the target position (affects deceleration of the mechanism) and how far away from its origin position (affects acceleration). The addition of the 10% factor is to eliminate the asymptote in the speed of the arm near its target and origin positions. Otherwise it would be infinitely slow starting and stopping."

if (accelerationscaling > decelerationscaling) scalingfactor = decelerationscaling

else

if (accelerationscaling < decelerationscaling) scalingfactor = accelerationscaling

"This basically makes the function look at the decelerationscaling factor when it is time to start throttling down the motor as it approaches its destination. Or it makes it look at accelerationfactor when it is time to throttle the motor up as it moves away from the original position."

Motor speed value = Max speed value in direction of target * scalingfactor

"This part of the function adjusts the speed of the motor relative to how close it is getting to its destination position or how far away it is from its original position."

What I am trying to accomplish would be to start the motors off slowly, throttle them up to full speed as the arm gets moving, and then as it approaches its destination point, to throttle them back down. Basically a soft start and soft stop function. Is this the same sort of thing your pseudocode does?