Re: Looking for an advanced motor control tutorial
Posted: 19 Mar 2011, 22:11
Well, aint there already such a precast function? I thought I once had read about that anywhere around here...?
Mindboards
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Looking for an advanced motor control tutorial
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Re: Looking for an advanced motor control tutorial
Posted: 19 Mar 2011, 22:21
I don't remember hearing about it, and I don't see anything like that in the templates list.
Re: Looking for an advanced motor control tutorial
Posted: 19 Mar 2011, 22:26
I'm not sure, was it this task...?
https://sourceforge.net/apps/phpbb/mind ... mp+up#p333
https://sourceforge.net/apps/phpbb/mind ... mp+up#p333
Re: Looking for an advanced motor control tutorial
Posted: 21 Mar 2011, 18:53
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
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
Re: Looking for an advanced motor control tutorial
Posted: 21 Mar 2011, 20:15
Just what I was looking for. Thanks.schodet wrote:
There is a tutorial here: Absolute position regulation
Re: Looking for an advanced motor control tutorial
Posted: 21 Mar 2011, 20:19
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)?
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)?
Re: Looking for an advanced motor control tutorial
Posted: 21 Mar 2011, 20:35
Hum... yes, use a really large angledoc-helmut wrote: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)?
Re: Looking for an advanced motor control tutorial
Posted: 21 Mar 2011, 21:10
yes, sure, ok!
:)
:)
Re: Looking for an advanced motor control tutorial
Posted: 22 Mar 2011, 02:14
Helmut, is this what you want?
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).
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.
}
}Edit: The Wait also allows another task to run (it yields to another task).
Re: Looking for an advanced motor control tutorial
Posted: 22 Mar 2011, 10:25
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
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