Default Accel and Velocity Control

Questions about using encoders with the Roboclaw product line
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cjmbasicmicro
Posts: 6
Joined: Sat Mar 07, 2020 9:11 am

Default Accel and Velocity Control

Post by cjmbasicmicro » Sun May 03, 2020 11:59 am

Should the velocity control PID loop over-ride the Default Accel, or, should the Default Accel always apply, even if the PID loop needs more than that much acceleration?

For example, if Default Accel is set very low, e.g. 25000, and the input/commanded velocity changes from 0% to 100%, and velocity control is enabled (and encoders are properly calibrated) should the controller slowly accelerate, or, should it attempt to accelerate very quickly?

Thank you,

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Basicmicro Support
Posts: 1365
Joined: Thu Feb 26, 2015 9:45 pm

Re: Default Accel and Velocity Control

Post by Basicmicro Support » Mon May 04, 2020 8:05 am

Default Accel only applies to commands that do NOT have an accel argument. If the command has an accel argument it overrides.

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