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rab: position error based on encoder steps into a position PID, output differentiated to get velocity error which feeds into a velocity PID, amplifier error output is differentiated to feed velocity PID, sum with special sauce, feed to amp
damn i did the second stage twice
need food and sleeps
rab: position error based on encoder steps into a position PID, output differentiated to get velocity error which feeds into a velocity PID, sum with special sauce, feed to amp
special sauce is feed forward and phase advance ratio stuff
or so ive heard...

Posted by renesis at 11:03 | permalink | 0 comments


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