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 FIRST like life is what you make of it, if you would rather go through FIRST worrying about what other teams do to make their robots, then your destined for disappointment. if you go through FIRST making the most of it doing the best you and your team can then it doesn't matter what other teams do. - Mike Schroeder [more] |
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#1
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Re: Current Control
Yes, I have firmware version 91.
I fiddled with the sliders, but didn't really get anywhere. Your method of tuning is actually perfectly acceptable and common, and it's just an approximation of Ziegler-Nichols. However, the oscillation point seems to change on me as I change the setpoint, and that's rather puzzling. (When I have the setpoint at 1A, every P value seems to either cause oscillation, or no output at all.) 
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#2
19-06-2010, 10:53
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Re: Current Control
I was driving a CIM, with a set point in the 4-10 amp range. I never tried driving it at just an amp. You might be hitting resolution limits - maximum current is somewhere in the 60+Amp range, I don't recall what one count translates to.
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