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Reading motor PID values
http://robotc.net/forums/viewtopic.php?f=1&t=13034
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Author:  RobotLego [ Sun Jan 03, 2016 12:33 am ]
Post subject:  Reading motor PID values

Is there a way to read the Proportional (in the PID controller) value on a standard NXT servo motor?
I'm trying to write a code that detects when a motor is undergoing a certain amount of stress. Is there a way to do that?
Likewise, is there a way to read the PID or "output" value for a motor?
I found that "motorPowerSigned[motorA]" will read the "assigned" power, I just need to know the actual "output" value. Then I can compare the assigned and actual powers to determine the amount of stress.

Thanks in advance.

Author:  RobotLego [ Sun Jan 10, 2016 1:53 am ]
Post subject:  Re: Reading motor PID values

Bumping, as I got no answer for a while.

Author:  RobotLego [ Wed Jan 20, 2016 6:24 pm ]
Post subject:  Re: Reading motor PID values

I've been waiting for over three weeks, and still got no answer.
Can anyone please answer my questions?

Author:  mightor [ Thu Jan 21, 2016 1:35 am ]
Post subject:  Re: Reading motor PID values

Hi there,

I have no experience with this, but there's a property called "motorPWMLevel[motorIndex]" for the NXT, which returns the current PWM value pushed to the motor. I am not sure the PID values can be read from inside the ROBOTC program. I know the debugger can read this data, but they're internal values.

= Xander

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