Looking for an advanced motor control tutorial

[HaWe]

Well, aint there already such a precast function? I thought I once had read about that anywhere around here...?

[mattallen37]

I don't remember hearing about it, and I don't see anything like that in the templates list.

[HaWe]

I'm not sure, was it this task...?
https://sourceforge.net/apps/phpbb/mind ... mp+up#p333

[schodet]

Sorry for the delay, I only visit Mindboards from time to time...

Yes, if you enable the absolute position contro, this includes automatic Ramp Up/Down. All you need is to choose a maximum speed and acceleration using PosRegSetMax.

There is a tutorial here: Absolute position regulation

[rghansen]

There is a tutorial here: Absolute position regulation

Just what I was looking for. Thanks.

[HaWe]

fine, thank you!
Now is there also a ramp up/dn for driving without encoder limit (ramp up or down to speed limit and then drive ahead forever until stopped by extra command)?

[schodet]

fine, thank you!
Now is there also a ramp up/dn for driving without encoder limit (ramp up or down to speed limit and then drive ahead forever until stopped by extra command)?

Hum... yes, use a really large angle

[HaWe]

yes, sure, ok!
:)

[mattallen37]

Helmut, is this what you want?

Code: Select all

task MotorRamp(){
  while(true){
    if(CS<Speed){
      CS++;
      OnFwd(OUT_A, CS);
    }
    if(CS>Speed){
      CS--;
      OnFwd(OUT_A, CS);
    }
    Wait(RampWait);//Slow it down for the effect.
  }
}

You can update the "Speed" as often as you want. To make the motor go in reverse, just multiply the Speed by -1. The "RampWait" is to adjust the ramping slope.

Edit: The Wait also allows another task to run (it yields to another task).

[HaWe]

hi,
thanks matt, looks fine too! :D
speed is probably power percentage (pwr),
and I propose that it should be taken abs(CS), abs(pwr) to fit for negative rotations, too (edit: not sure about that).
I'll have to look for a way to stop this task intermediately by another task but If I remember correctly I should have already a solution in my BT Motor Control task.

Now nearly all application uses are fine:
ramp up/dn without limits (matt)
ramp up/dn with absolute encoder targets (schodet)

now only 1 is left:
ramp up/dn when using RotateMotor/Ex/PID for relative encoder targets