2012: Tuning the Jaguar's Speed Control PID Loop

[Ether]

Originally Posted by Mr. Lim

The Jaguars desperately need a Feed-Forward implementation in its speed control PID loop.

I don't know is this is possible without completely breaking the Jag's comm protocol, but a flexible way to implement that would be updated Jag firmware which supports a second input command to the Jag (in addition to the setpoint) so that the user could use a lookup table or nonlinear equation or other arbitrary processing (based perhaps on open-loop experimental measurements) to create that "feedforward" command.

Until and unless the Jag firmware changes, moving the controller completely out of the Jag allows this flexibility, as some have suggested on other threads. An example is attached.