2012: Tuning the Jaguar's Speed Control PID Loop

[jhersh]

Originally Posted by mjcoss

It's a bit erratic and it may well be just noise. I played a little more with it tonight, and feel like it is stable enough. One thing that I meant to mention, and was a bit surprised by was that the Get[() function on the Jaguars just return the set point, not the current speed. We have the encoder signal split, going to the digital side card, and I've been using the digital side card encoder to track the performance of the speed control.

I expected that the Jaguar would have reported the current speed, not the set point. I played some with the D term but got nothing useful.

---Michael J Coss

You need to use GetStatus to find the measured speed. The headers / context help contains information. You should read it.

-Joe