Velocity control feedforward term

Questions about using encoders with the Roboclaw product line
Post Reply
User avatar
Basicmicro Support
Posts: 1594
Joined: Thu Feb 26, 2015 9:45 pm
Re: Velocity control feedforward term

Post by Basicmicro Support »

Yes, it is the QPPS value. The Roboclaw uses the QPPS value to determine the correct feedforward value automatically(you dont enter it other than setting the QPPS. QPPS is just the maximum speed of the motor in encoder counts per second. The simplest way to determine it is to run the motor at 100% duty and read out the speed.

Note that the autotuner will determine a reasonable QPPS setting automatically.

Post Reply