Using Kevin's PWM outputs for a quieter drive system.

Kevin Watson · #6 28-02-2008, 17:21

Quote:

Originally Posted by Tom Bottiglieri

Kevin -
Is 120Hz the actual max update rate on the victors? Is this published info or do you just know off hand.

We desperately need more control on our drive motors this year but the 40Hz loop is wayy wayy wayy too slow. I'm not sure if 120Hz would even help.

This is what I heard from one of the IFI guys when we were discussing my PWM code. I'm not sure if it's published or not.

There is something seriously wrong if you can't control a ~100 pound robot using KOP motors at a 100Hz control rate. Are you using encoders to determine velocity? Remember, the higher the control rate, the less you know about your velocity (Heisenberg was a very intelligent fellow

).

-Kevin

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