Trouble with position mode
Posted: Mon Sep 21, 2015 4:09 pm
I have a RoboClaw 2x15A Motor Controller (V5) driver hooked up to a brushed motor with an optical encoder. I have set up and tuned the velocity loop and it is working great through the full range of speeds. When trying to tune position mode, I get pulsating or lurching motion as the motor moves towards the command point. This is with only P gain in the position loop. This happens with all values of P, as P gets lower, the overall motor speed and lurching gets slower, but is still there. It eventually gets to the right spot and stops. I have tried with two different motor/encoder setups, each with different types of encoders and get identical behavior.
I am running the driver through USB from a Windows laptop for testing. I will be using packet serial from a microcontroller once everything is set up.
Am I doing something wrong?
I am running the driver through USB from a Windows laptop for testing. I will be using packet serial from a microcontroller once everything is set up.
Am I doing something wrong?