ROBOTC.net forums
http://robotc.net/forums/

Best way to fine control motors
http://robotc.net/forums/viewtopic.php?f=1&t=910		 Page 1 of 1
Author:  gravyuk [ Wed Nov 12, 2008 11:39 am ]
Post subject:  Best way to fine control motors
Which of these is the best way to have fine/precise control of the motor. My aim is to move exactly 50 degrees clockwise and then anti-clockwise repeatedly without progressive drifting of the start/stop positions.

In both cases:
- speed regulation is on
- brake mode is on
- motor power is about 50%

Option 1:

Variable = target encoder value
Start motor
Loop
Is motor encoder at target value?
Yes, exit loop
Stop motor

OR option 2:

Set motor encoder target = target encoder value
Start motor
Loop while motor power is greater than zero

Thanks,
Author:  AvidProgrammer [ Wed Nov 12, 2008 12:22 pm ]
Post subject:  Re: Best way to fine control motors
Gravyuk,

There is also a "nMotorRunState[]" variable you may want to look into. It tells you what the motors are up to -- in particular, you can check to see if they're idle or in a 'hold' position. You would use it along with a specific encoder target. Unfortunately, sometimes they never quite hit idle if they are under high strain.

You may find this post interesting as well.
Author:  gravyuk [ Wed Nov 12, 2008 12:33 pm ]
Post subject:  Re: Best way to fine control motors
The reason I ask is I haven't got what I would consider perfect control and common sense dictates that I should use option 2 as it use less code as it relys on firmware, but then again I have seen the other method in various code examples so I wondered what the best way was.

What I need ultimately is the simplest code that turns and exact number of degrees reliably.

G
Page 1 of 1 All times are UTC - 5 hours [ DST ]
Powered by phpBB © 2000, 2002, 2005, 2007 phpBB Group
http://www.phpbb.com/