Preferred Stop Command

Questions about using encoders with the Roboclaw product line
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skcolb
Posts: 22
Joined: Mon Oct 19, 2015 5:05 pm
Preferred Stop Command

Post by skcolb »

Is there a preferred stop command when using the advanced motor control commands? For instance, I use a lot of commands 65, 66, and 67 for motions that are long on a human scale, and sometimes I'd like to stop the motors before the motion finishes. It seems that there are a few different choices to stop, but are the behaviors any different? What command does the IonMotion big stop button use? Thanks.
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Basicmicro Support
Posts: 1594
Joined: Thu Feb 26, 2015 9:45 pm
Re: Preferred Stop Command

Post by Basicmicro Support »

The IonMotion stop button sends a 0 Duty command. For an E-Stop situation you should use the Duty commands to stop. Since they take no feedback, once they are sent the motor is going to stop.

For velocity commands use a 0 speed velocity command, with or without accel to produce a controlled stop(eg not an e-stop).

For position commands, if you know where you want the new stop to be, send a new position command with that position, otherwise use the 0 Duty(with or without accel), or if you are using a cascaded velocity/position pid, use a 0 speed velocity command.
skcolb
Posts: 22
Joined: Mon Oct 19, 2015 5:05 pm
Re: Preferred Stop Command

Post by skcolb »

Thanks for the clarification, this is exactly what I was looking for.

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