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Unread 16-02-2012, 13:31
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Re: PID Velocity Control
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Originally Posted by j.cole View Post
Doing the delta counts didn't fix the problem which was the jumpyness of the encoder values at a constant voltage.
At what encoder speed (RPM) were you seeing jumpyness of the encoder values using the delta_counts method?


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Unread 17-02-2012, 10:55
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Re: PID Velocity Control
(I just took the delta counts so I'd say it's RPS not RPM) But I tried everywhere between .5 RPS and 5 RPS and the variance is still the same. I want to say it has something to do with the rate TeleOp runs but I don't know.
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Unread 17-02-2012, 11:07
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Re: PID Velocity Control
Quote:
Originally Posted by j.cole View Post
(I just took the delta counts so I'd say it's RPS not RPM) But I tried everywhere between .5 RPS and 5 RPS and the variance is still the same. I want to say it has something to do with the rate TeleOp runs but I don't know.
If there's excessive jitter in TeleOp, try dividing delta_counts by the actual elapsed time instead of the assumed 20ms.

Is this for a shooter wheel or something else?


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