Wrong Encoder Reading with roboclaw.Duty command
Posted: Tue Jun 18, 2019 12:21 am
Hi
I tried to controle my robot. Sometime I will need to control it on Force or torque if you prefer. So I was thinking the roboclaw.DutyM1(...) was the right command to do this but when I use it the encoder reading become wrong. It is as if when I send the roboclaw.DutyM1(...) the zero of the encoder just slide to another position...When the duty is low, the motor mouves but the encoder reading do not increase. Then if I put a higher duty to the motor then the encoder start to count.
This problem does not appear when I use the velocity PIV and the position PID... What can I do?
Thank you in advence
Camille
I tried to controle my robot. Sometime I will need to control it on Force or torque if you prefer. So I was thinking the roboclaw.DutyM1(...) was the right command to do this but when I use it the encoder reading become wrong. It is as if when I send the roboclaw.DutyM1(...) the zero of the encoder just slide to another position...When the duty is low, the motor mouves but the encoder reading do not increase. Then if I put a higher duty to the motor then the encoder start to count.
This problem does not appear when I use the velocity PIV and the position PID... What can I do?
Thank you in advence
Camille