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Oddities when running MOTORs in FLOAT MODE 
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Joined: Mon May 31, 2010 8:02 am
Posts: 55
Post Oddities when running MOTORs in FLOAT MODE
I'm putting together a MOTOR TEST application to allow my students to get a better feel for how the NXT motors work. I'm looking at operation with motor power levels of; 10, 25, 50, 75, & 100. I'm finding something that seems a little strange and was wondering if anyone could help explain it. It appears that a MOTOR has different operating characteristics depending on whether it is being run in FLOAT MODE. I've never noticed any problems like this when running in NXT-G. I'm running the motor in open-loop and here's my setup;

#pragma config(Motor, motorB, MB, tmotorNormal, openLoop, encoder)

To put the motor in FLOAT MODE, I'm executing the following;

bFloatDuringInactiveMotorPWM = true;

Here are the things I'm finding when running in FLOAT;

    1) I can't get the MOTOR to even start at power levels 10, 25, or 50. MOTOR runs fine at these power levels when not in FLOAT. If I give the MOTOR a kick before setting the actual power level with something like this;

    motor[MB] = 100;
    wait1Msec(10);
    motor[MB] = 50;

    I can get it to start at power level 50, but this doesn't help at levels 10 or 25.

    2) The MOTOR RPMs are somewhat smaller when in FLOAT (2-5 RPMs less).

Am I doing something wrong? Can anyone help explain what I'm seeing? Seems odd that the MOTOR would be so sensitive to the FLOAT setting.

Thanks,
Chris


Sun Apr 24, 2011 10:26 am
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